Remove ready_fn, self.proc_info

Signed-off-by: Pete Baughman <pete.baughman@apex.ai>

test_ros2cli/test/test_process_output_customizable.py.in

@@ -19,11 +19,11 @@ import unittest
 
 from launch import LaunchDescription
 from launch.actions import ExecuteProcess
-from launch.actions import OpaqueFunction
 from launch.actions import TimerAction
 from launch.substitutions import LaunchConfiguration
 
 import launch_testing
+import launch_testing.actions
 import launch_testing.asserts
 
 sys.path.append(os.path.dirname(__file__))
@@ -32,7 +32,7 @@ from @TEST_CONFIGURATION_FILE@ import configs  # noqa
 
 
 @launch_testing.parametrize('config', configs)
-def generate_test_description(config, ready_fn):
+def generate_test_description(config):
     cmd = ['ros2', config.command]
     cmd.extend(config.arguments)
     process_under_test = ExecuteProcess(
@@ -48,17 +48,17 @@ def generate_test_description(config, ready_fn):
     ))
     launch_description = LaunchDescription(actions)
     launch_description.add_action(
-        OpaqueFunction(function=lambda context: ready_fn())
+        launch_testing.actions.ReadyToTest()
     )
     msgs = config.expected_output
     return launch_description, locals()
 
 
 class TestCommandFinishesInAFiniteAmountOfTime(unittest.TestCase):
 
-    def @TEST_NAME@(self, process_under_test):
+    def @TEST_NAME@(self, process_under_test, proc_info):
         """Test that ros2 command finished in a finite amount of time."""
-        self.proc_info.assertWaitForShutdown(process=process_under_test, timeout=60)
+        proc_info.assertWaitForShutdown(process=process_under_test, timeout=60)
 
 
 @launch_testing.post_shutdown_test()