Add Launch Tests and enforce in CI

.github/workflows/ros2_gz_harmonic_launch_tests.yaml

@@ -0,0 +1,140 @@
+name: ROS 2 Launch Tests (Gazebo Harmonic)
+
+on:
+    push:
+        branches: [main, testing]
+    pull_request:
+        branches: [main, testing]
+    workflow_dispatch:
+
+env:
+    WORLDS_DIR: /opt/jderobot
+    ROS_DISTRO: humble
+
+jobs:
+    launch-tests:
+        runs-on: ubuntu-22.04
+        timeout-minutes: 30
+
+        steps:
+            - name: Create checkout directory with proper permissions
+              run: |
+                  sudo mkdir -p ${{ env.WORLDS_DIR }}
+                  sudo chmod -R 777 ${{ env.WORLDS_DIR }}
+
+            - name: Checkout repository
+              uses: actions/checkout@v3
+
+            - name: copy worlds
+              run: |
+                  sudo cp -r ${{ github.workspace }}/Worlds ${{ env.WORLDS_DIR }}
+                  sudo cp -r ${{ github.workspace }}/jderobot_drones ${{ env.WORLDS_DIR }}
+
+            - name: Setup ROS 2 Humble
+              run: |
+                  # Add the ROS 2 apt repository with updated key
+                  sudo apt-get update && sudo apt-get install -y curl gnupg lsb-release
+                  sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+                  echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+                  sudo apt-get update
+                  # Install ROS 2 packages
+                  sudo apt-get install -y ros-humble-ros-base python3-colcon-common-extensions
+
+            - name: "Setup Gazebo"
+              uses: gazebo-tooling/[email protected]
+              with:
+                  required-gazebo-distributions: harmonic
+            - name: "Test Gazebo installation"
+              run: "gz sim --versions"
+
+            # - name: Install Gazebo and dependencies
+            #   run: |
+            #       # First install libunwind-dev to satisfy the  dependency requirements
+            #       sudo apt-get update
+            #       sudo apt-get install -y libunwind-dev
+
+            #       # Then install the rest of the packages
+            #       sudo apt-get install -y python3-pip python3-pytest-timeout python3-pytest-cov \
+            #         ros-humble-launch-testing ros-humble-launch-testing-ament-cmake \
+            #         ros-humble-gazebo-ros-pkgs ros-humble-gazebo-ros ros-humble-xacro \
+            #         ros-humble-joint-state-publisher ros-humble-robot-state-publisher \
+            #         ros-humble-nav2-msgs ros-humble-turtlebot3-msgs
+
+            #       # Install Gazebo separately with --fix-broken option
+            #       sudo apt-get install -y --fix-broken gazebo libgazebo-dev
+
+            - name: Install Gazebo Harmonic and dependencies
+              run: |
+                  sudo apt-get install -y ros-humble-xacro ros-humble-ros-gz-sim
+                  sudo apt remove ros-humble-ros-gzharmonic-bridge ros-humble-ros-gzharmonic-interfaces ros-humble-ros-gzharmonic-sim
+                  sudo apt-get install ros-humble-as2-gazebo-assets ros-humble-as2-platform-gazebo ros-humble-ros-gz-image
+                  sudo apt-get install -y ros-humble-as2-gazebo-assets ros-humble-as2-state-estimator 
+                  sudo apt-get install -y ros-humble-as2-motion-controller ros-humble-as2-behaviors-motion
+
+            - name: Install Gazebo classic and resolve version conflicts
+              run: |
+                  sudo add-apt-repository ppa:openrobotics/gazebo11-gz-cli
+                  sudo apt update
+                  sudo apt-get install gazebo11
+
+                  # Resolve version conflicts
+                  sudo apt-get remove libgazebo11
+                  sudo apt-get install libgazebo11=11.10.2+dfsg-1
+                  sudo apt-get install libgazebo-dev
+
+            - name: "Test Gazebo installation"
+              run: "gz sim --versions"
+
+            - name: Rename Launch Files
+              run: |
+                  sudo mv /opt/ros/humble/share/as2_state_estimator/launch/ground_truth_state_estimator.launch.py /opt/ros/humble/share/as2_state_estimator/launch/ground_truth-state_estimator.launch.py
+                  sudo mv /opt/ros/humble/share/as2_motion_controller/launch/pid_speed_controller.launch.py /opt/ros/humble/share/as2_motion_controller/launch/pid_speed_controller-motion_controller.launch.py
+
+            - name: Setup Python dependencies
+              run: |
+                  python -m pip install --upgrade pip
+                  if [ -f test/requirements.txt ]; then
+                    pip install -r test/requirements.txt
+                  fi
+                  pip install pytest pytest-timeout pytest-cov
+
+            - name: Configure Gazebo for headless rendering
+              run: |
+                  # Configure display for headless rendering
+                  echo "export GAZEBO_IP=127.0.0.1" >> $GITHUB_ENV
+                  echo "export OGRE_RTT_MODE=Copy" >> $GITHUB_ENV
+                  echo "export DISPLAY=:1" >> $GITHUB_ENV
+
+                  # Configure audio to use null devices
+                  echo "export AUDIODEV=null" >> $GITHUB_ENV
+                  echo "export SDL_AUDIODRIVER=dummy" >> $GITHUB_ENV
+
+                  # Create dummy ALSA config
+                  echo 'pcm.!default { type null; }' > ~/.asoundrc
+                  echo 'ctl.!default { type null; }' >> ~/.asoundrc
+
+                  # Set up virtual framebuffer for visual rendering
+                  sudo apt-get install -y xvfb
+                  Xvfb :1 -screen 0 1280x1024x24 &
+
+                  # Give Xvfb and audio config time to initialize
+                  sleep 3
+
+            - name: add only Harmonic tests to ros package
+              run: sed -i 's|file(GLOB TEST_FILES "${RI_ROOT_DIR}/test/test\*\.py")|file(GLOB TEST_FILES "${RI_ROOT_DIR}/test/harmonic/test_*.py")|' CustomRobots/CMakeLists.txt
+
+            - name: Build workspace
+              run: |
+                  source /opt/ros/humble/setup.bash
+                  colcon build --symlink-install
+
+            - name: Run launch tests
+              run: |
+                  source /opt/ros/humble/setup.bash
+                  source install/setup.bash
+                  colcon test --packages-select custom_robots --event-handlers console_direct+ --return-code-on-test-failure
+
+            - name: Show test results
+              if: always()
+              run: |
+                  colcon test-result --verbose

.github/workflows/ros2_launch_tests.yaml

@@ -0,0 +1,104 @@
+name: ROS 2 Launch Tests
+
+on:
+    push:
+        branches: [main, testing]
+    pull_request:
+        branches: [main, testing]
+    workflow_dispatch:
+
+env:
+    WORLDS_DIR: /opt/jderobot
+    ROS_DISTRO: humble
+
+jobs:
+    launch-tests:
+        runs-on: ubuntu-22.04
+        timeout-minutes: 30
+
+        steps:
+            - name: Create checkout directory with proper permissions
+              run: |
+                  sudo mkdir -p ${{ env.WORLDS_DIR }}
+                  sudo chmod -R 777 ${{ env.WORLDS_DIR }}
+
+            - name: Checkout repository
+              uses: actions/checkout@v3
+
+            - name: copy worlds
+              run: |
+                  sudo cp -r ${{ github.workspace }}/Worlds ${{ env.WORLDS_DIR }}
+
+            - name: Setup ROS 2 Humble
+              run: |
+                  # Add the ROS 2 apt repository with updated key
+                  sudo apt-get update && sudo apt-get install -y curl gnupg lsb-release
+                  sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+                  echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+                  sudo apt-get update
+                  # Install ROS 2 packages
+                  sudo apt-get install -y ros-humble-ros-base python3-colcon-common-extensions
+
+            - name: Install Gazebo and dependencies
+              run: |
+                  # First install libunwind-dev to satisfy dependency requirements
+                  sudo apt-get update
+                  sudo apt-get install -y libunwind-dev
+
+                  # Then install the rest of the packages
+                  sudo apt-get install -y python3-pip python3-pytest-timeout python3-pytest-cov \
+                    ros-humble-launch-testing ros-humble-launch-testing-ament-cmake \
+                    ros-humble-gazebo-ros-pkgs ros-humble-gazebo-ros ros-humble-xacro \
+                    ros-humble-joint-state-publisher ros-humble-robot-state-publisher \
+                    ros-humble-nav2-msgs ros-humble-turtlebot3-msgs
+
+                  # Install Gazebo separately with --fix-broken option
+                  sudo apt-get install -y --fix-broken gazebo libgazebo-dev
+
+            - name: Setup Python dependencies
+              run: |
+                  python -m pip install --upgrade pip
+                  if [ -f test/requirements.txt ]; then
+                    pip install -r test/requirements.txt
+                  fi
+                  pip install pytest pytest-timeout pytest-cov
+
+            - name: Configure Gazebo for headless rendering
+              run: |
+                  # Configure display for headless rendering
+                  echo "export GAZEBO_IP=127.0.0.1" >> $GITHUB_ENV
+                  echo "export OGRE_RTT_MODE=Copy" >> $GITHUB_ENV
+                  echo "export DISPLAY=:1" >> $GITHUB_ENV
+
+                  # Configure audio to use null devices
+                  echo "export AUDIODEV=null" >> $GITHUB_ENV
+                  echo "export SDL_AUDIODRIVER=dummy" >> $GITHUB_ENV
+
+                  # Create dummy ALSA config
+                  echo 'pcm.!default { type null; }' > ~/.asoundrc
+                  echo 'ctl.!default { type null; }' >> ~/.asoundrc
+
+                  # Set up virtual framebuffer for visual rendering
+                  sudo apt-get install -y xvfb
+                  Xvfb :1 -screen 0 1280x1024x24 &
+
+                  # Give Xvfb and audio config time to initialize
+                  sleep 3
+
+            - name: Build workspace
+              run: |
+                  source /opt/ros/humble/setup.bash
+                  source /usr/share/gazebo/setup.sh
+                  colcon build --symlink-install --packages-up-to custom_robots
+
+            - name: Run launch tests
+              run: |
+                  source /opt/ros/humble/setup.bash
+                  source install/setup.bash
+                  source /usr/share/gazebo/setup.bash
+                  colcon test --packages-select custom_robots --event-handlers console_direct+ --return-code-on-test-failure
+
+            - name: Show test results
+              if: always()
+              run: |
+                  colcon test-result --verbose

.gitignore

@@ -4,3 +4,12 @@ __pycache__/
 
 # IDEs
 .vscode
+
+# Tests
+build
+install
+test/__pycache__/
+
+# Logs
+**log**
+

CustomRobots/CMakeLists.txt

@@ -1,6 +1,9 @@
 cmake_minimum_required(VERSION 3.8)
 project(custom_robots)
 
+# Define project root directory
+set(RI_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/..)
+
 # Default to C99
 if(NOT CMAKE_C_STANDARD)
   set(CMAKE_C_STANDARD 99)
@@ -136,9 +139,22 @@ install(
     pick_place/urdf
   DESTINATION share/${PROJECT_NAME})
 
+install(
+  FILES ${RI_ROOT_DIR}/Launchers/follow_road.launch.py
+        ${RI_ROOT_DIR}/Launchers/rescue_people.launch.py
+  DESTINATION share/${PROJECT_NAME}/launch)
+
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
+  # find_package(ament_lint_auto REQUIRED)
+  # ament_lint_auto_find_test_dependencies()
+
+  find_package(launch_testing_ament_cmake REQUIRED)
+  # Use file(GLOB...) to find all test files matching the pattern
+  file(GLOB TEST_FILES "${RI_ROOT_DIR}/test/test*.py")
+  # Loop through each test file and add it as a launch test
+  foreach(test_file ${TEST_FILES})
+    add_launch_test(${test_file} TIMEOUT 90)
+  endforeach()
 endif()
 
 ament_export_libraries(personplugin)

CustomRobots/package.xml

@@ -33,6 +33,12 @@
   <exec_depend>urdf</exec_depend>
   <exec_depend>joint_state_publisher</exec_depend>
 
+  <!-- launch testing -->
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>launch_testing</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>rclpy</test_depend>
+
   <!-- Gz Harmonic -->
   <exec_depend>ros-humble-ros-gzharmonic-bridge</exec_depend>
   <exec_depend>ros-humble-ros-gzharmonic-sim</exec_depend>
@@ -42,4 +48,4 @@
     <build_type>ament_cmake</build_type>
     <gazebo_ros plugin_path="${prefix}/lib" gazebo_media_path="${prefix}" />
   </export>
-</package>
+</package>

Launchers/3d_reconstruction.launch.py

@@ -1,14 +1,16 @@
+"""Launch file for 3D reconstruction simulation using Gazebo and custom robots."""
+
 import os
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.conditions import IfCondition, UnlessCondition
+from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import Command, LaunchConfiguration, PythonExpression
-from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
 from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
+    """Generate the launch description for the 3D reconstruction Gazebo simulation."""
 
     # Set the path to the Gazebo ROS package
     pkg_gazebo_ros = FindPackageShare(package="gazebo_ros").find("gazebo_ros")

Launchers/follow_person_followingcam.launch.py

@@ -1,14 +1,20 @@
+"""Launch file for following person with following camera in Gazebo simulation."""
+
 import os
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.conditions import IfCondition, UnlessCondition
+from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import Command, LaunchConfiguration, PythonExpression
-from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
 from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
+    """
+    Generate the launch description for the following person exercise.
+
+    With a following camera in Gazebo simulation.
+    """
 
     # Set the path to the Gazebo ROS package
     pkg_gazebo_ros = FindPackageShare(package="gazebo_ros").find("gazebo_ros")

Launchers/simple_circuit.launch.py

@@ -1,14 +1,16 @@
+"""Launch file for starting the simple circuit world in Gazebo with custom robots."""
+
 import os
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.conditions import IfCondition, UnlessCondition
+from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import Command, LaunchConfiguration, PythonExpression
-from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
 from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
+    """Generate the launch description for starting the simple circuit world."""
 
     # Set the path to the Gazebo ROS package
     pkg_gazebo_ros = FindPackageShare(package="gazebo_ros").find("gazebo_ros")

Launchers/simple_circuit_ackermann.launch.py

@@ -1,14 +1,16 @@
+"""Launch file for the simple circuit Ackermann simulation using Gazebo."""
+
 import os
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.conditions import IfCondition, UnlessCondition
+from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import Command, LaunchConfiguration, PythonExpression
-from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
 from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
+    """Generate the launch description for the simple circuit Ackermann simulation."""
 
     # Set the path to the Gazebo ROS package
     pkg_gazebo_ros = FindPackageShare(package="gazebo_ros").find("gazebo_ros")