Make use of ros_testing to test policy generation.

sros2/package.xml

@@ -22,6 +22,8 @@
   <test_depend>ament_mypy</test_depend>
   <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
+  <!-- Single entrypoint to depend on launch based testing -->
+  <test_depend>ros_testing</test_depend>
   <test_depend>test_msgs</test_depend>
 
   <export>

sros2/test/sros2/commands/security/verbs/fixtures/client_service_node.py

@@ -0,0 +1,51 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# 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 rclpy
+from rclpy.node import Node
+
+import test_msgs.srv
+
+
+class ClientServiceNode(Node):
+
+    def __init__(self, name='client_srv_node'):
+        super().__init__(name)
+        self.client = self.create_client(test_msgs.srv.Empty, '~/client')
+        self.service = self.create_service(
+            test_msgs.srv.Empty, '~/server', lambda request, response: response
+        )
+
+    def destroy_node(self):
+        self.client.destroy()
+        self.service.destroy()
+        super().destroy_node()
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    node = ClientServiceNode()
+
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        print('node stopped cleanly')
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

sros2/test/sros2/commands/security/verbs/fixtures/pub_sub_node.py

@@ -0,0 +1,54 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# 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 rclpy
+from rclpy.node import Node
+
+import test_msgs.msg
+
+
+class PubSubNode(Node):
+
+    def __init__(self, name='pub_sub_node'):
+        super().__init__(name)
+
+        self.publisher = self.create_publisher(
+            test_msgs.msg.Strings, '~/pub', 1
+        )
+        self.subscription = self.create_subscription(
+            test_msgs.msg.Strings, '~/sub', lambda msg: None, 1
+        )
+
+    def destroy_node(self):
+        self.publisher.destroy()
+        self.subscription.destroy()
+        super().destroy_node()
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    node = PubSubNode()
+
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        print('node stopped cleanly')
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()