Update node launch tests to use new Foxy syntax
Description
Currently the node launch tests use the ready_fn
argument and OpaqueFunction()
to generate the test description. This is the standard for ROS2 Dashing however now that AutowareAuto has moved to Foxy, tests should be updated to use the new API ReadyToTest()
. See here: https://github.com/ros2/launch/pull/322.
Similarly, Foxy launch syntax raises depreciation warnings with node_executable
, node_namespace
, node_name
for launch_ros.actions.Node, it is recommended to use non-redundant executable
, namespace
, name
.
Expected behavior
Only a test change so no behavioural changes in the test contents and output. The changes are relatively small only effecting 2 lines of each files. An example was created here to update a small test case: https://gitlab.com/jilada/AutowareAuto/-/blob/949-foxy-launch-test-example/src/planning/trajectory_spoofer/test/trajectory_spoofer_launch.test.py
Definition of Done
-
Update all test cases to reflect the new format of generating test descriptions without OpaqueFunction plugging. -
Update all tests to use concise field names in launch (node_x -> x) -
Update the testing documentation to remove any written code and point to one of the packages as an example. -
Ensure that integration-testing.md is up to date and have it point to a working example in our code base