fix various test problems

test/test_rostest/CMakeLists.txt

@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(test_rostest)
+
+find_package(catkin REQUIRED COMPONENTS rostest)
+
+catkin_package()
+
+if(CATKIN_ENABLE_TESTING)
+  add_rostest(test/publishtest.test)
+endif()

test/test_rostest/package.xml

@@ -0,0 +1,17 @@
+<package>
+  <name>test_rostest</name>
+  <version>1.14.3</version>
+  <description>
+    Tests for rostest.
+  </description>
+  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
+  <license>BSD</license>
+
+  <url>http://ros.org/wiki/rostest</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>rostest</build_depend>
+
+  <test_depend>rostopic</test_depend>
+</package>

tools/rostest/test/publishtest.test → test/test_rostest/test/publishtest.test

@@ -1,17 +1,17 @@
 <launch>
 
   <node name="talker_0"
-        pkg="rospy" type="talker.py">
+        pkg="test_rostest" type="talker.py">
     <remap from="chatter" to="~output" />
   </node>
 
   <node name="talker_1"
-        pkg="rospy" type="talker.py">
+        pkg="test_rostest" type="talker.py">
     <remap from="chatter" to="~output" />
   </node>
 
   <node name="talker_2"
-        pkg="rostest" type="just_advertise">
+        pkg="test_rostest" type="just_advertise">
     <rosparam>
       msg_name: std_msgs/String
     </rosparam>

test/test_rostest/test_nodes/talker.py

@@ -0,0 +1,53 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+## Simple talker demo that published std_msgs/Strings messages
+## to the 'chatter' topic
+
+import rospy
+from std_msgs.msg import String
+
+def talker():
+    rospy.init_node('talker', anonymous=True)
+    pub = rospy.Publisher('chatter', String, queue_size=10)
+    r = rospy.Rate(10) # 10hz
+    while not rospy.is_shutdown():
+        str = "hello world %s"%rospy.get_time()
+        rospy.loginfo(str)
+        pub.publish(str)
+        r.sleep()
+
+if __name__ == '__main__':
+    try:
+        talker()
+    except rospy.ROSInterruptException: pass

tools/rosbag_storage/CMakeLists.txt

@@ -7,7 +7,7 @@ if(NOT WIN32)
 endif()
 
 find_package(console_bridge REQUIRED)
-find_package(catkin REQUIRED COMPONENTS cpp_common pluginlib roscpp_serialization roscpp_traits rostime roslz4)
+find_package(catkin REQUIRED COMPONENTS cpp_common pluginlib roscpp_serialization roscpp_traits rostime roslz4 std_msgs)
 find_package(Boost REQUIRED COMPONENTS date_time filesystem program_options regex)
 find_package(BZip2 REQUIRED)
 

tools/rosbag_storage/package.xml

@@ -22,6 +22,7 @@
   <build_depend>rostest</build_depend>
   <build_depend>rostime</build_depend>
   <build_depend>roslz4</build_depend>
+  <build_depend>std_msgs</build_depend>
 
   <run_depend>boost</run_depend>
   <run_depend>bzip2</run_depend>

tools/rosgraph/test/test_roslogging.py

@@ -112,7 +112,8 @@ def test_rosconsole__logging_format():
                 this_file,
                 '[0-9]*',
                 function,
-                '/unnamed',
+                # depending if rospy.get_name() is available
+                '(/unnamed|<unknown_node_name>)',
                 '[0-9]*\.[0-9]*',
             ])
             assert_regexp_matches(lout.getvalue().splitlines()[i], log_out)

tools/rosgraph/test/test_roslogging_user_logger.py

@@ -126,7 +126,8 @@ def test_roslogging_user_logger():
             '<filename>',
             '<lineno>',
             '<func_name>',
-            '/unnamed',
+            # depending if rospy.get_name() is available
+            '(/unnamed|<unknown_node_name>)',
             '[0-9]*\.[0-9]*',
         ])
         assert_regexp_matches(lout.getvalue().strip(), log_expected)

tools/roslaunch/test/unit/test_nodeprocess.py

@@ -104,7 +104,7 @@ def test_create_node_process(self):
             pass
 
         # have to specify a real node
-        n = Node('rospy','talker.py')
+        n = Node('roslaunch','talker.py')
         n.machine = m
         try: # should fail b/c n.name is not set
             create_node_process(run_id, n, master_uri)
@@ -113,7 +113,7 @@ def test_create_node_process(self):
             pass
 
         # have to specify a real node
-        n = Node('rospy','talker.py')
+        n = Node('roslaunch','talker.py')
 
         n.machine = None
         n.name = 'talker'
@@ -140,7 +140,7 @@ def test_create_node_process(self):
                 self.fail('%s should not be set: %s'%(k,d[k]))
 
         # test package and name
-        self.assertEquals(p.package, 'rospy')
+        self.assertEquals(p.package, 'roslaunch')
         # - no 'correct' full answer here 
         self.assert_(p.name.startswith('talker'), p.name)
 
@@ -171,7 +171,7 @@ def test_create_node_process(self):
         p = create_node_process(run_id, n, master_uri)
         # - the first arg should be the path to the node executable
         rospack = rospkg.RosPack()
-        cmd = roslib.packages.find_node('rospy', 'talker.py', rospack)[0]
+        cmd = roslib.packages.find_node('roslaunch', 'talker.py', rospack)[0]
         self.assertEquals(p.args[0], cmd)
 
         # - test basic args
@@ -188,7 +188,7 @@ def test_create_node_process(self):
         self.assert_('KEY2:=VAL2' in p.args)
 
         # - test __name
-        n = Node('rospy','talker.py')
+        n = Node('roslaunch','talker.py')
         n.name = 'fooname'
         n.machine = m
         self.assert_('__name:=fooname' in create_node_process(run_id, n, master_uri).args)

tools/roslaunch/test_nodes/talker.py

@@ -0,0 +1,53 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+## Simple talker demo that published std_msgs/Strings messages
+## to the 'chatter' topic
+
+import rospy
+from std_msgs.msg import String
+
+def talker():
+    rospy.init_node('talker', anonymous=True)
+    pub = rospy.Publisher('chatter', String, queue_size=10)
+    r = rospy.Rate(10) # 10hz
+    while not rospy.is_shutdown():
+        str = "hello world %s"%rospy.get_time()
+        rospy.loginfo(str)
+        pub.publish(str)
+        r.sleep()
+
+if __name__ == '__main__':
+    try:
+        talker()
+    except rospy.ROSInterruptException: pass

tools/rostest/CMakeLists.txt

@@ -29,7 +29,6 @@ if(CATKIN_ENABLE_TESTING)
 
   add_rostest(test/hztest0.test)
   add_rostest(test/hztest.test)
-  add_rostest(test/publishtest.test)
   add_rostest(test/clean_master.test)
   add_rostest(test/distro_version.test)
   add_rostest(test/param.test)

tools/rostest/test/hztest.test

@@ -1,5 +1,5 @@
 <launch>
-  <node name="talker" pkg="rospy" type="talker.py" />
+  <node name="talker" pkg="rostest" type="talker.py" />
 
   <param name="hztest1/topic" value="chatter" />  
   <param name="hztest1/hz" value="10.0" />

tools/rostest/test_nodes/talker.py

@@ -0,0 +1,53 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+## Simple talker demo that published std_msgs/Strings messages
+## to the 'chatter' topic
+
+import rospy
+from std_msgs.msg import String
+
+def talker():
+    rospy.init_node('talker', anonymous=True)
+    pub = rospy.Publisher('chatter', String, queue_size=10)
+    r = rospy.Rate(10) # 10hz
+    while not rospy.is_shutdown():
+        str = "hello world %s"%rospy.get_time()
+        rospy.loginfo(str)
+        pub.publish(str)
+        r.sleep()
+
+if __name__ == '__main__':
+    try:
+        talker()
+    except rospy.ROSInterruptException: pass