Fix passing launch_dashobard_client launch argument (#1057)

* Fix passing launch_dashobard_client launch argument
   This was not handled properly
* Do start dashboard_client in driver_test
* Add test for checking launch_dashboard_client argument

(cherry picked from commit ca19535)

ur_robot_driver/CMakeLists.txt

@@ -180,6 +180,10 @@ if(BUILD_TESTING)
   find_package(launch_testing_ament_cmake)
 
   if(${UR_ROBOT_DRIVER_BUILD_INTEGRATION_TESTS})
+    add_launch_test(test/launch_args.py
+      TIMEOUT
+        180
+    )
     add_launch_test(test/dashboard_client.py
       TIMEOUT
         180

ur_robot_driver/launch/ur_control.launch.py

@@ -36,7 +36,14 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, OpaqueFunction
 from launch.conditions import IfCondition, UnlessCondition
-from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
+from launch.substitutions import (
+    AndSubstitution,
+    Command,
+    FindExecutable,
+    LaunchConfiguration,
+    NotSubstitution,
+    PathJoinSubstitution,
+)
 
 
 def launch_setup(context, *args, **kwargs):
@@ -238,7 +245,9 @@ def launch_setup(context, *args, **kwargs):
 
     dashboard_client_node = Node(
         package="ur_robot_driver",
-        condition=IfCondition(launch_dashboard_client) and UnlessCondition(use_fake_hardware),
+        condition=IfCondition(
+            AndSubstitution(launch_dashboard_client, NotSubstitution(use_fake_hardware))
+        ),
         executable="dashboard_client",
         name="dashboard_client",
         output="screen",

ur_robot_driver/test/launch_args.py

@@ -0,0 +1,148 @@
+#!/usr/bin/env python
+# Copyright 2024, FZI Forschungszentrum Informatik
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the {copyright_holder} nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import logging
+import os
+import pytest
+import sys
+import time
+import unittest
+
+import rclpy
+from rclpy.node import Node
+
+
+from launch import LaunchDescription
+from launch.actions import (
+    ExecuteProcess,
+    IncludeLaunchDescription,
+    RegisterEventHandler,
+)
+from launch.event_handlers import OnProcessExit
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.substitutions import FindPackagePrefix, FindPackageShare
+
+import launch_testing
+from launch_testing.actions import ReadyToTest
+
+sys.path.append(os.path.dirname(__file__))
+from test_common import (  # noqa: E402
+    ControllerManagerInterface,
+    _declare_launch_arguments,
+    _ursim_action,
+)
+
+
+@pytest.mark.launch_test
+@launch_testing.parametrize(
+    "launch_dashboard_client",
+    [("true"), ("false")],
+)
+def generate_test_description(launch_dashboard_client):
+    ur_type = LaunchConfiguration("ur_type")
+    launch_arguments = {
+        "robot_ip": "192.168.56.101",
+        "ur_type": ur_type,
+        "launch_rviz": "false",
+        "controller_spawner_timeout": str(120),
+        "initial_joint_controller": "scaled_joint_trajectory_controller",
+        "headless_mode": "true",
+        "launch_dashboard_client": launch_dashboard_client,
+        "start_joint_controller": "false",
+    }
+
+    robot_driver = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution(
+                [FindPackageShare("ur_robot_driver"), "launch", "ur_control.launch.py"]
+            )
+        ),
+        launch_arguments=launch_arguments.items(),
+    )
+    wait_dashboard_server = ExecuteProcess(
+        cmd=[
+            PathJoinSubstitution(
+                [
+                    FindPackagePrefix("ur_robot_driver"),
+                    "bin",
+                    "wait_dashboard_server.sh",
+                ]
+            )
+        ],
+        name="wait_dashboard_server",
+        output="screen",
+    )
+    driver_starter = RegisterEventHandler(
+        OnProcessExit(target_action=wait_dashboard_server, on_exit=robot_driver)
+    )
+
+    return LaunchDescription(
+        _declare_launch_arguments()
+        + [ReadyToTest(), wait_dashboard_server, _ursim_action(), driver_starter]
+    )
+
+
+class DashboardClientTest(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        # Initialize the ROS context
+        rclpy.init()
+        cls.node = Node("robot_driver_launch_test")
+        time.sleep(1)
+        cls.init_robot(cls)
+
+    @classmethod
+    def tearDownClass(cls):
+        # Shutdown the ROS context
+        cls.node.destroy_node()
+        rclpy.shutdown()
+
+    def init_robot(self):
+        # This waits for the controller_manager to be available
+        self._controller_manager_interface = ControllerManagerInterface(self.node)
+
+    def setUp(self):
+        pass
+
+    def test_dashboard_client_exists(self, launch_dashboard_client):
+        # Use the get_node_names_and_namespaces() method to get the list of nodes and their namespaces
+        nodes_with_ns = self.node.get_node_names_and_namespaces()
+
+        nodes = [namespace + name for (name, namespace) in nodes_with_ns]
+
+        for node in nodes:
+            print(node)
+
+        # Print out the nodes and their namespaces
+        logging.info("Discovered ROS nodes:")
+        if launch_dashboard_client == "true":
+            self.assertIn("/dashboard_client", nodes)
+        else:
+            self.assertNotIn("/dashboard_client", nodes)

ur_robot_driver/test/test_common.py

@@ -307,23 +307,26 @@ def generate_driver_test_description(
 ):
     ur_type = LaunchConfiguration("ur_type")
 
+    launch_arguments = {
+        "robot_ip": "192.168.56.101",
+        "ur_type": ur_type,
+        "launch_rviz": "false",
+        "controller_spawner_timeout": str(controller_spawner_timeout),
+        "initial_joint_controller": "scaled_joint_trajectory_controller",
+        "headless_mode": "true",
+        "launch_dashboard_client": "true",
+        "start_joint_controller": "false",
+    }
+    if tf_prefix:
+        launch_arguments["tf_prefix"] = tf_prefix
+
     robot_driver = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
                 [FindPackageShare("ur_robot_driver"), "launch", "ur_control.launch.py"]
             )
         ),
-        launch_arguments={
-            "robot_ip": "192.168.56.101",
-            "ur_type": ur_type,
-            "launch_rviz": "false",
-            "controller_spawner_timeout": str(controller_spawner_timeout),
-            "initial_joint_controller": "scaled_joint_trajectory_controller",
-            "headless_mode": "true",
-            "launch_dashboard_client": "false",
-            "start_joint_controller": "false",
-            "tf_prefix": tf_prefix,
-        }.items(),
+        launch_arguments=launch_arguments.items(),
     )
     wait_dashboard_server = ExecuteProcess(
         cmd=[