launch_test command not found
I want to launch several nodes and check that the output of one specific node is something that I know in advance. ROS community recently added launch_testing
(https://github.com/ros2/launch/tree/m...) but whenever I run launch_test in my command line it does not detect the command, neither in my ROS2 crystal nor in my dashing. I have ROS2 sourced and I can call other commands like ros2 run
.
If I check with ros2 pkg list
it appears just the launch package. I have tried to clone the whole launch repo from Github but still just appears launch.
Moreover, I would like to know if it would be possible to check the output of a topic instead of the process outputs and exit codes.
My launch_descriptor looks like this:
def generate_test_description():
ld = LaunchDescription([
Node(package='gui_pkg', node_executable='process_node', output='screen'),
Node(package='planning_prob_pkg', node_executable='planning_prob_node', output='screen'),
Node(package='planner_pkg', node_executable='planner_node', output='screen'),
Node(package='simulation_pkg', node_executable='simulation_node', output='screen'),
Node(package='state_machine_pkg', node_executable='state_machine_node', output='screen')
])
return ld
And would like to test that a message published in the node executable simulation_node is some value that I know in advance.