orise-robotics / xacro_live Goto Github PK

Currently, the package depends on xacro to parse the .xacro files. Though it sounds reasonable, I feel we are not doing the right thing, because the package mainly aims to to provide the xacro command-line tool. xacro_live is taking advantage of the functions created to implement the CLI tool. Those functions are not shaped to be used by client packages

After the very first release, we got errors in the buildfarm. The test that checks the exit codes of the launch nodes failed.

Here we are filtering a launch entity of type rclpy.node.Node, but I think it should be launch_ros.actions.Node instead

Some lines further we try to use launch_ros.actions.Node methods with a supposed rclpy.node.Node object:

So far we had no error here probably because nodes is an empty list since there is no launch entity of type rclpy.node.Node, and then no assertion is made:

nodes = set(
            filter(
                lambda entity: isinstance(entity, rclpy.node.Node),
                spawn_launch.get_sub_entities()[0].entities
            )
        )
.....
for node in nodes:
            proc_info.assertWaitForStartup(node, timeout=5)
            self.assertTrue(node.is_node_name_fully_specified())
            self.assertRegex(node.node_name, combined_regex)

Then we must also add an extra assertion to make sure nodes is not empty (or just make sure it is the same size as expected_nodes)

Currently, there is no test that xacro_live correctly updates the robot description given an update of the new included file. It is interesting to test the case this included file is in another folder.

One way I thought to do this was by commenting and uncommenting include portions of a base xacro file.