test(colcon): configure our pkgs to use pytest

to ensure that the CI `colcon test` run works, because with a change to
python 3.12 the `unittest` standard library used by default with colcon
now exits with an error code of 5 for an empty test suite.

See: colcon/colcon-core#678
See: python/cpython#102051

Author: texhnolyze

bitbots_behavior/bitbots_body_behavior/package.xml

@@ -30,6 +30,7 @@
   <depend>tf_transformations</depend>
   <depend>tf2</depend>
 
+  <test_depend>python3-pytest</test_depend>
 
   <export>
     <rosdoc config="rosdoc.yaml"/>

bitbots_behavior/bitbots_body_behavior/setup.py

@@ -1,13 +1,13 @@
 import glob
 
-from setuptools import setup
+from setuptools import find_packages, setup
 
 package_name = "bitbots_body_behavior"
 
 
 setup(
     name=package_name,
-    packages=[package_name],
+    packages=find_packages(exclude=["test"]),
     data_files=[
         ("share/" + package_name, ["package.xml"]),
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

bitbots_misc/bitbots_technical_challenge_vision/setup.py

@@ -16,6 +16,7 @@
         ("share/" + package_name + "/launch", glob.glob("launch/*.launch")),
     ],
     install_requires=["setuptools"],
+    tests_require=["pytest"],
     zip_safe=True,
     maintainer="par",
     maintainer_email="[email protected]",

bitbots_misc/bitbots_teleop/package.xml

@@ -20,6 +20,8 @@
   <depend>std_msgs</depend>
   <depend>tf_transformations</depend>
 
+  <test_depend>python3-pytest</test_depend>
+
   <export>
     <bitbots_documentation>
       <language>python2</language>

bitbots_misc/bitbots_teleop/setup.py

@@ -19,6 +19,7 @@
         "launch",
         "setuptools",
     ],
+    tests_require=["pytest"],
     zip_safe=True,
     keywords=["ROS"],
     license="MIT",

bitbots_misc/bitbots_tts/package.xml

@@ -11,7 +11,7 @@
   <maintainer email="[email protected]">Hamburg Bit-Bots</maintainer>
 
   <license>MIT</license>
-  
+
   <author email="[email protected]">Marc Bestmann</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
@@ -21,6 +21,8 @@
   <depend>espeak</depend>
   <depend>std_msgs</depend>
 
+  <test_depend>python3-pytest</test_depend>
+
   <export>
     <bitbots_documentation>
       <status>broken</status>

bitbots_misc/bitbots_tts/setup.py

@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    packages=find_packages(),
+    packages=find_packages(exclude=["test"]),
     data_files=[
         ("share/" + package_name, ["package.xml"]),
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
@@ -16,6 +16,7 @@
     install_requires=[
         "setuptools",
     ],
+    tests_require=["pytest"],
     scripts=glob.glob("scripts/*"),
     entry_points={
         "console_scripts": [

bitbots_misc/system_monitor/package.xml

@@ -11,7 +11,7 @@
   <maintainer email="[email protected]">Hamburg Bit-Bots</maintainer>
 
   <license>MIT</license>
-  
+
   <author email="[email protected]">Finn-Thorben Sell</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
@@ -21,7 +21,10 @@
   <depend>rclpy</depend>
   <depend>bitbots_msgs</depend>
 
-  <export><build_type>ament_python</build_type>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
   </export>
 
-  </package>
+</package>

bitbots_misc/system_monitor/setup.py

@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    packages=find_packages(),
+    packages=find_packages(exclude=["test"]),
     data_files=[
         ("share/" + package_name, ["package.xml"]),
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
@@ -18,6 +18,7 @@
     install_requires=[
         "setuptools",
     ],
+    tests_require=["pytest"],
     entry_points={
         "console_scripts": [
             "monitor = system_monitor.monitor:main",

bitbots_motion/bitbots_animation_rqt/package.xml

@@ -22,6 +22,8 @@
   <exec_depend>rqt_gui</exec_depend>
   <exec_depend>std_srvs</exec_depend>
 
+  <test_depend>python3-pytest</test_depend>
+
   <export>
     <architecture_independent/>
     <rqt_gui plugin="${prefix}/plugin.xml"/>

bitbots_motion/bitbots_animation_rqt/setup.py

@@ -4,14 +4,15 @@
 
 setup(
     name=package_name,
-    packages=find_packages(),
+    packages=find_packages(exclude=["test"]),
     data_files=[
         ("share/" + package_name + "/resource", ["resource/RecordUI.ui"]),
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
         ("share/" + package_name, ["package.xml"]),
         ("share/" + package_name, ["plugin.xml"]),
     ],
     install_requires=["setuptools"],
+    tests_require=["pytest"],
     zip_safe=True,
     entry_points={
         "console_scripts": [

bitbots_motion/bitbots_animation_server/package.xml

@@ -22,6 +22,8 @@
   <depend>rclpy</depend>
   <depend>std_msgs</depend>
 
+  <test_depend>python3-pytest</test_depend>
+
   <export>
     <bitbots_documentation>
       <status>tested_integration</status>

bitbots_motion/bitbots_animation_server/setup.py

@@ -18,6 +18,7 @@
         "launch",
         "setuptools",
     ],
+    tests_require=["pytest"],
     zip_safe=True,
     keywords=["ROS"],
     license="MIT",

bitbots_simulation/bitbots_robocup_api/package.xml

@@ -29,6 +29,8 @@
   <depend>topic_tools</depend>
   <depend>rosbag2</depend>
 
+  <test_depend>python3-pytest</test_depend>
+
   <export>
     <build_type>ament_python</build_type>
     <bitbots_documentation>

bitbots_simulation/bitbots_robocup_api/setup.py

@@ -7,7 +7,7 @@
 
 setup(
     name=package_name,
-    packages=find_packages(),
+    packages=find_packages(exclude=["test"]),
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
         (os.path.join("share", package_name), ["package.xml"]),
@@ -18,6 +18,7 @@
         "launch",
         "setuptools",
     ],
+    tests_require=["pytest"],
     zip_safe=True,
     keywords=["ROS"],
     license="MIT",

bitbots_team_communication/bitbots_team_communication/setup.py

@@ -8,7 +8,5 @@
     install_requires=[
         "setuptools",
     ],
-    extras_require={
-        "dev": ["pytest", "syrupy"],
-    },
+    tests_require=["pytest", "syrupy"],
 )

bitbots_team_communication/bitbots_team_data_sim_rqt/package.xml

@@ -22,6 +22,8 @@
   <exec_depend>rqt_gui</exec_depend>
   <exec_depend>std_srvs</exec_depend>
 
+  <test_depend>python3-pytest</test_depend>
+
   <export>
     <architecture_independent/>
     <rqt_gui plugin="${prefix}/plugin.xml"/>

bitbots_team_communication/bitbots_team_data_sim_rqt/setup.py

@@ -4,14 +4,15 @@
 
 setup(
     name=package_name,
-    packages=find_packages(),
+    packages=find_packages(exclude=["test"]),
     data_files=[
         ("share/" + package_name + "/resource", ["resource/RobotTeamDataSimulator.ui"]),
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
         ("share/" + package_name, ["package.xml"]),
         ("share/" + package_name, ["plugin.xml"]),
     ],
     install_requires=["setuptools"],
+    tests_require=["pytest"],
     zip_safe=True,
     entry_points={
         "console_scripts": [

bitbots_vision/package.xml

@@ -40,6 +40,8 @@
   <depend>std_msgs</depend>
   <depend>vision_opencv</depend>
 
+  <test_depend>python3-pytest</test_depend>
+
   <export>
     <bitbots_documentation>
       <language>python3</language>

bitbots_vision/setup.py

@@ -23,6 +23,7 @@
         "launch",
         "setuptools",
     ],
+    tests_require=["pytest"],
     zip_safe=True,
     keywords=["ROS"],
     license="MIT",

bitbots_world_model/bitbots_ball_filter/package.xml

@@ -23,6 +23,8 @@
   <depend>std_srvs</depend>
   <depend>tf2_geometry_msgs</depend>
 
+  <test_depend>python3-pytest</test_depend>
+
   <export>
     <bitbots_documentation>
       <language>python3</language>

bitbots_world_model/bitbots_ball_filter/setup.py

@@ -24,6 +24,7 @@
         "launch",
         "setuptools",
     ],
+    tests_require=["pytest"],
     zip_safe=True,
     keywords=["ROS"],
     license="MIT",

bitbots_world_model/bitbots_robot_filter/setup.py

@@ -1,13 +1,13 @@
 import glob
 
-from setuptools import setup
+from setuptools import find_packages, setup
 
 package_name = "bitbots_robot_filter"
 
 setup(
     name=package_name,
     version="0.0.0",
-    packages=[package_name],
+    packages=find_packages(exclude=["test"]),
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
         ("share/" + package_name, ["package.xml"]),

scripts/ros.plugin.sh

@@ -54,6 +54,7 @@ alias cbs='cdc && colcon build --symlink-install --packages-select'
 alias cb='cdc && colcon build --symlink-install --continue-on-error --packages-up-to'
 alias cc='cdc && colcon clean packages --packages-select'
 alias cca='cdc && colcon clean packages'
+alias ct='cdc && colcon test --event-handlers console_direct+ --return-code-on-test-failure'
 
 alias sr="source /opt/ros/$distro/setup.$shell && update_ros2_argcomplete"
 alias sc="source \$COLCON_WS/install/setup.$shell && update_ros2_argcomplete"