ROS2 Runner
- class codestral_ros2_gen.utils.ros2_runner.ROS2Runner(node_command, test_command, test_timeout=30)[source]
Bases:
objectROS2Runner encapsulates methods to launch a ROS2 node, run pytest tests in the ROS2 environment, capture the test output for analysis, and terminate the node.
- Parameters:
node_command (str)
test_command (str)
test_timeout (int)
- node_command
Shell command to launch the ROS2 node.
- Type:
str
- test_command
Shell command to run tests (pytest).
- Type:
str
- test_timeout
How many seconds to wait for the process before timing out. Defaults to 30 seconds.
- Type:
int
- node_process
The process object for the ROS2 node.
- Type:
subprocess.Popen
- test_output
Captured output from the test command.
- Type:
str
- tests_passed
Number of tests that passed.
- Type:
int
- tests_failed
Number of tests that failed.
- Type:
int
- tests_skipped
Number of tests that were skipped.
- Type:
int
- __init__(node_command, test_command, test_timeout=30)[source]
Initialize the ROS2Runner.
- Parameters:
node_command (str) – Shell command to launch the ROS2 node.
test_command (str) – Shell command to run tests (pytest).
test_timeout (int) – How many seconds to wait for the process before timing out. Defaults to 30 seconds.
- start_node()[source]
Start the ROS2 node and verify it launched successfully.
If “skip / SKIP” is found in the node_command, the node is not started.
- Raises:
RuntimeError – If the node fails to start or register with ROS2.
- Return type:
None
- run_tests()[source]
Run pytest using the test_command and capture the output.
- Returns:
- The return code of the test command. If the command times out,
it returns 1 by default.
- Return type:
int
- kill_node()[source]
Terminate the running ROS2 node cleanly, and force-kill if necessary. Uses psutil to find and terminate the actual ROS2 node process, not just the shell.
- Return type:
None