Add KeepAliveProc to basic test

PickNikRobotics · Sep 9, 2023 · 1f97d56 · 1f97d56
1 parent 1deb67c
commit 1f97d56
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/minimal_integration_test/CMakeLists.txt b/minimal_integration_test/CMakeLists.txt
@@ -19,7 +19,7 @@ if(BUILD_TESTING)
     test/basic_test.cpp
   )
   ament_target_dependencies(basic_test ${THIS_PACKAGE_INCLUDE_DEPENDS})
-  add_ros_test(test/launch/basic_test.test.py TIMEOUT 120 ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
+  add_launch_test(test/launch/basic_test.test.py TIMEOUT 120 ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
 endif()
 
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})

diff --git a/minimal_integration_test/test/launch/basic_test.test.py b/minimal_integration_test/test/launch/basic_test.test.py
@@ -1,11 +1,7 @@
 # -*- coding: utf-8 -*-
 import launch
-from launch.actions import TimerAction
-from launch.substitutions import PathJoinSubstitution
 from launch_ros.actions import Node
 import launch_testing
-import os
-import sys
 import unittest
 
 
@@ -29,7 +25,11 @@ def generate_test_description():
                 "containing test executables",
             ),
             basic_test,
-            # TimerAction(period=2.0, actions=[basic_test]),
+            # In tests where all of the procs under tests terminate themselves, it's necessary
+            # to add a dummy process not under test to keep the launch alive. launch_test
+            # provides a simple launch action that does this:
+            # https://github.com/ros2/launch/blob/aed025e04e0b143362c69bf29a67b2ffff4c59ee/launch_testing/test/launch_testing/examples/args_launch_test.py#L63
+            launch_testing.util.KeepAliveProc(),
             launch_testing.actions.ReadyToTest(),
         ]
     ), {