Add tests for launch_utils of controller manager (#2147)

controller_manager/CMakeLists.txt

@@ -245,10 +245,34 @@ if(BUILD_TESTING)
   )
 
   find_package(ament_cmake_pytest REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
+  find_package(rclpy REQUIRED)
   install(FILES test/test_ros2_control_node.yaml
+    test/test_controller_load.yaml
+    test/test_ros2_control_node_combined.yaml
     DESTINATION test)
   ament_add_pytest_test(test_ros2_control_node test/test_ros2_control_node_launch.py)
   ament_add_pytest_test(test_test_utils test/test_test_utils.py)
+  ament_add_pytest_test(test_launch_utils_unit test/test_launch_utils_unit.py
+    APPEND_ENV AMENT_PREFIX_PATH=${ament_index_build_path}
+    PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}:${CMAKE_CURRENT_SOURCE_DIR}:${PYTHONPATH}
+  )
+  # ----------------------------------------------------------------------------
+  # Integration tests for individual launch_utils entry points
+  # ----------------------------------------------------------------------------
+  ament_add_pytest_test(test_launch_utils_integration_list
+    test/test_launch_utils_integration_list.py
+    TIMEOUT 60
+  )
+  ament_add_pytest_test(test_launch_utils_integration_dict
+    test/test_launch_utils_integration_dict.py
+    TIMEOUT 60
+  )
+  ament_add_pytest_test(test_launch_utils_integration_load
+    test/test_launch_utils_integration_load.py
+    TIMEOUT 60
+  )
+
 endif()
 
 install(

controller_manager/test/test_controller3.yaml

@@ -0,0 +1,8 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+controller3:
+  ros__parameters:
+    type: "controller_manager/test_controller"
+    joint_names: ["joint3"]

controller_manager/test/test_controller_load.yaml

@@ -0,0 +1,8 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+test_controller_load:
+  ros__parameters:
+    type: "controller_manager/test_controller"
+    joint_names: ["joint1"]

controller_manager/test/test_joint_state_broadcast.yaml

@@ -0,0 +1,7 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+joint_state_broadcaster:
+  ros__parameters:
+    type: "joint_state_broadcaster/JointStateBroadcaster"

controller_manager/test/test_launch_utils_integration_dict.py

@@ -0,0 +1,240 @@
+#!/usr/bin/env python3
+# Copyright 2025 Robert Kwan
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import pytest
+import unittest
+import os
+import tempfile
+import time
+
+from ament_index_python.packages import get_package_share_directory, get_package_prefix
+from launch import LaunchDescription
+import launch_testing
+from launch_testing.actions import ReadyToTest
+import launch_testing.markers
+import launch_ros.actions
+
+import rclpy
+
+from controller_manager.launch_utils import (
+    generate_controllers_spawner_launch_description_from_dict,
+)
+
+
+@pytest.mark.launch_test
+def generate_test_description():
+    """
+    Generate launch description for testing.
+
+    THIS VERSION CREATES ALL NEEDED FILES DYNAMICALLY AND USES THE COMBINED CONFIG.
+    """
+
+    # Create temporary directory for all test files
+    temp_dir = tempfile.mkdtemp()
+    print(f"Creating test files in: {temp_dir}")
+
+    # Get URDF, without involving xacro
+    urdf = os.path.join(
+        get_package_share_directory("ros2_control_test_assets"),
+        "urdf",
+        "test_hardware_components.urdf",
+    )
+    with open(urdf) as infp:
+        robot_description_content = infp.read()
+    robot_description = {"robot_description": robot_description_content}
+
+    robot_controllers = os.path.join(
+        get_package_prefix("controller_manager"), "test", "test_ros2_control_node_combined.yaml"
+    )
+
+    # Verify both files exist
+    assert os.path.isfile(robot_controllers), f"Controller config not created: {robot_controllers}"
+    assert os.path.isfile(urdf), f"URDF not created: {urdf}"
+
+    robot_state_pub_node = launch_ros.actions.Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+    )
+
+    # ===== START CONTROLLER MANAGER (ros2_control_node) =====
+    control_node = launch_ros.actions.Node(
+        package="controller_manager",
+        executable="ros2_control_node",
+        parameters=[robot_controllers],  # Use the combined config file
+        output="both",
+    )
+
+    # The dictionary keys are the controller names to be spawned/started.
+    # Values can be empty lists since config is provided via the main YAML.
+    ctrl_dict = {
+        "joint_state_broadcaster": [robot_controllers],
+        "ctrl_with_parameters_and_type": [robot_controllers],
+        "controller3": [robot_controllers],
+    }
+    controller_list = list(ctrl_dict.keys())
+
+    # ===== GENERATE SPAWNER LAUNCH DESCRIPTION =====
+    print(f"Spawning controllers: {controller_list}")
+
+    # Correct function name and call
+    spawner_ld = generate_controllers_spawner_launch_description_from_dict(
+        controller_info_dict=ctrl_dict,
+    )
+
+    # ===== CREATE LAUNCH DESCRIPTION =====
+    ld = LaunchDescription(
+        [robot_state_pub_node, control_node, ReadyToTest()] + spawner_ld.entities
+    )
+
+    # Return tuple with launch description and test context
+    return ld, {
+        "controller_list": controller_list,  # Key name updated to match the test function
+        "robot_controllers": str(robot_controllers),
+        "urdf_file": urdf,
+        "temp_dir": temp_dir,
+    }
+
+
+# Active tests
+class TestControllerSpawnerList(unittest.TestCase):
+    """Active tests that run while the launch is active."""
+
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
+
+    def test_spawner_nodes_launched(self, proc_info):
+        """Ensure processes are running."""
+        process_names = proc_info.process_names()
+        self.assertGreater(len(process_names), 0)
+        print("\n[TEST] Active processes: {process_names}")
+
+    def test_controllers_loaded(self, proc_info, controller_list):
+        """Test that controllers were loaded (poll until they appear)."""
+        node = rclpy.create_node("test_controller_query_node")
+
+        try:
+            from controller_manager_msgs.srv import ListControllers
+
+            client = node.create_client(ListControllers, "/controller_manager/list_controllers")
+
+            print("\n[TEST] Waiting for controller_manager service...")
+            wait_for_svc_timeout = 30.0
+            if not client.wait_for_service(timeout_sec=wait_for_svc_timeout):
+                process_names = proc_info.process_names()
+                self.fail(
+                    f"Controller manager service not available after {wait_for_svc_timeout}s.\n"
+                    f"Active processes: {process_names}"
+                )
+
+            # Poll for controllers to be registered
+            print("[TEST] Service available, polling for controllers (timeout 30s)...")
+            deadline = node.get_clock().now() + rclpy.duration.Duration(seconds=30.0)
+            seen = []
+            while node.get_clock().now() < deadline:
+                req = ListControllers.Request()
+                fut = client.call_async(req)
+                rclpy.spin_until_future_complete(node, fut, timeout_sec=2.0)
+                if fut.done() and fut.result() is not None:
+                    response = fut.result()
+                    seen = [c.name for c in response.controller]
+                    if all(ctrl in seen for ctrl in controller_list):
+                        print(f"[TEST] Loaded controllers: {seen}")
+                        break
+                # small sleep to avoid tight-loop
+                time.sleep(0.2)
+            else:
+                # timeout expired
+                self.fail(
+                    f"Timeout waiting for controllers to be loaded. "
+                    f"Expected: {controller_list}, saw: {seen}"
+                )
+
+            # Final assert (defensive)
+            for controller in controller_list:
+                self.assertIn(
+                    controller,
+                    seen,
+                    f"Controller '{controller}' was not loaded. Available: {seen}",
+                )
+
+            print(f"[TEST] ? All {len(controller_list)} controllers loaded successfully")
+
+        finally:
+            node.destroy_node()
+
+    def test_spawner_exit_code(self, proc_info):
+        """Test that spawner process ran (may have completed already)."""
+        process_names = proc_info.process_names()
+        print(f"\n[TEST] Checking for spawner in: {process_names}")
+
+        # The spawner may have already completed successfully and exited
+        # So we just verify that we have processes running
+        self.assertGreater(len(process_names), 0)
+        print(f"[TEST] ? Launch has {len(process_names)} active processes")
+
+
+@launch_testing.post_shutdown_test()
+class TestProcessOutput(unittest.TestCase):
+    """Post-shutdown tests."""
+
+    def test_exit_codes(self, proc_info):
+        """Verify all processes exited successfully."""
+        print("\n[POST-SHUTDOWN] Process exit codes:")
+        for process_name in proc_info.process_names():
+            info = proc_info[process_name]
+            print(f"  {process_name}: {info.returncode}")
+
+        for process_name in proc_info.process_names():
+            info = proc_info[process_name]
+
+            if "ros2_control_node" in process_name:
+                self.assertEqual(
+                    info.returncode, 0, f"{process_name} exited with {info.returncode}"
+                )
+            elif "spawner" in process_name:
+                # Spawner should complete successfully (0) or be terminated
+                self.assertIn(
+                    info.returncode,
+                    [0, -2, -15],
+                    f"Spawner {process_name} exited with {info.returncode}",
+                )
+            else:
+                self.assertIn(
+                    info.returncode, [0, -2, -15], f"{process_name} exited with {info.returncode}"
+                )
+
+        print("[POST-SHUTDOWN] ? All processes exited as expected")
+
+    def test_cleanup_temp_files(self, temp_dir, robot_controllers, urdf_file):
+        """Clean up temporary test files."""
+        import shutil
+
+        print(f"\n[CLEANUP] Removing temporary directory: {temp_dir}")
+
+        # The original clean-up logic was commented out, enabling it for safety
+        try:
+            if os.path.exists(temp_dir):
+                shutil.rmtree(temp_dir)
+
+            print("[CLEANUP] ? Temporary files removed")
+        except Exception as e:
+            print(f"[CLEANUP] Warning: Cleanup failed: {e}")