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Add subscription callback test with ping+pong nodes

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This commit is contained in:
Christophe Bedard 2019-06-03 11:16:05 +02:00
parent 3b85b3cbd8
commit 8f09ce339d
7 changed files with 158 additions and 9 deletions
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15
tracetools_test/tracetools_test/utils.py
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@ -15,7 +15,7 @@ from tracetools_trace.tools.lttng import (
lttng_destroy,
)
def run_and_trace(base_path, session_name_prefix, ros_events, kernel_events, package_name, node_executable):
def run_and_trace(base_path, session_name_prefix, ros_events, kernel_events, package_name, node_names):
"""
Run a node while tracing
:param base_path (str): the base path where to put the trace directory
@ -23,7 +23,7 @@ def run_and_trace(base_path, session_name_prefix, ros_events, kernel_events, pac
:param ros_events (list(str)): the list of ROS UST events to enable
:param kernel_events (list(str)): the list of kernel events to enable
:param package_name (str): the name of the package to use
:param node_executable (str): the name of the node to execute
:param node_names (list(str)): the names of the nodes to execute
"""
session_name = f'{session_name_prefix}-{time.strftime("%Y%m%d%H%M%S")}'
full_path = f'{base_path}/{session_name}'
@ -32,10 +32,13 @@ def run_and_trace(base_path, session_name_prefix, ros_events, kernel_events, pac
lttng_setup(session_name, full_path, ros_events=ros_events, kernel_events=kernel_events)
lttng_start(session_name)
ld = LaunchDescription([
launch_ros.actions.Node(
package=package_name, node_executable=node_executable, output='screen'),
])
nodes = []
for node_name in node_names:
n = launch_ros.actions.Node(package=package_name,
node_executable=node_name,
output='screen')
nodes.append(n)
ld = LaunchDescription(nodes)
ls = LaunchService()
ls.include_launch_description(get_default_launch_description())
ls.include_launch_description(ld)