Add Unit Test for Republisher Node on Jazzy Branch

.gitignore

@@ -1 +1,22 @@
+# Launch files
+*build/
+*devel/
+*install/
+*log/
+
+# Python files 
 __pycache__/
+*.pyc
+*.pyo
+*.pyd
+
+# VS files
+.vscode/
+.idea/
+*.swp
+
+# Dependencies 
+venv/
+*.egg-info/
+*.eggs/
+pip-log.txt

inorbit_republisher/CHANGELOG.rst

@@ -11,4 +11,4 @@ Changelog for package inorbit_republisher
 ------------------
 * First pass at porting republisher to ROS 2 (`#20 <https://github.com/inorbit-ai/ros_inorbit_samples/issues/20>`_)
   Ported from noetic-devel
-* Contributors: Julian Cerruti, Elvio Aruta
+* Contributors: Julian Cerruti, Elvio Aruta

inorbit_republisher/README.md

@@ -1,8 +1,8 @@
 # InOrbit republisher for ROS 2
 
-This directory includes a republisher that allows mapping from arbitrary ROS2 values to ``InOrbit`` [custom data](https://www.inorbit.ai/faq#publish-custom-data) key/value pairs for application-specific observability.
+This directory includes a republisher that allows mapping from arbitrary ROS 2 values to ``InOrbit`` [custom data](https://www.inorbit.ai/faq#publish-custom-data) key/value pairs for application-specific observability.
 
-Currently only mapping from ROS2 topics is supported. The republisher could be extended to map actions, services and parameters.
+Currently only mapping from ROS 2 topics is supported. The republisher could be extended to map actions, services and parameters.
 
 ## Usage
 
@@ -75,9 +75,9 @@ A suggested way to organize this is by creating the config file and launch file
 </launch>
 ```
 
-## Mapping ROS2 topics
+## Mapping ROS 2 topics
 
-The republisher can map the ROS2 values to single field (e.g. ``'fruit=apple'``) or to an array of fields (e.g. ``'fruits=[{fruit1: apple, fruit2: orange}, {fruit1: melon, fruit2: apple}]'``). The former is useful to capture simple fields and the latter to get data from an array of values.
+The republisher can map the ROS 2 values to single field (e.g. ``'fruit=apple'``) or to an array of fields (e.g. ``'fruits=[{fruit1: apple, fruit2: orange}, {fruit1: melon, fruit2: apple}]'``). The former is useful to capture simple fields and the latter to get data from an array of values.
 
 ### Single field: mapping options
 
@@ -173,15 +173,15 @@ These values will be published as latched and delivered only once every time a s
 
 Find below instructions for building the package and running the node using the the code on the workspace (see also [colcon](https://colcon.readthedocs.io/en/released/reference/verb/build.html)).
 
-### Start ROS2 docker container (optional)
+### Start ROS 2 docker container (optional)
 
 You can run the commands below for building and running the republisher inside a docker container.
 
 ```bash
 docker run -ti --rm \
   --workdir /root/ros2_ws/ \
   -v .:/root/ros2_ws/src/inorbit_republisher \
-  osrf/ros:foxy-desktop
+  osrf/ros:jazzy-desktop
 ```
 
 ### Build
@@ -207,4 +207,4 @@ ros2 launch inorbit_republisher example.launch.xml
 * Error handling
 * Proper logging
 * Latched topic support
-* Mapping of ROS parameters
+* Mapping of ROS parameters

inorbit_republisher/config/example_unit_test.yaml

@@ -0,0 +1,29 @@
+republishers:
+- topic: "/input_topic"
+  msg_type: "std_msgs/String"
+  mappings:
+  - field: "data"
+    mapping_type: "single_field"
+    out:
+      topic: "/output_topic"
+      key: "input_to_output"
+static_publishers:
+- value_from:
+    package_version: "rospy"
+  out:
+    topic: "/inorbit/custom_data"
+    key: "rospy_version"
+- value_from:
+    package_version: "inorbit_republisher"
+  out:
+    topic: "/inorbit/custom_data"
+    key: "inorbit_republisher_version"
+- value_from:
+    environment_variable: "PYTHONPATH"
+  out:
+    topic: "/inorbit/custom_data"
+    key: "python_path"
+- value: "let's republish in orbit"
+  out:
+    topic: "/inorbit/custom_data"
+    key: "greeting"

inorbit_republisher/launch/sample_data.launch.xml

@@ -0,0 +1,6 @@
+  <launch>
+    <node name="inorbit_republisher" pkg="inorbit_republisher" exec="republisher">
+      <param name="config" value="/root/ros2_ws/src/inorbit_republisher/test/sample_data/config.yaml" />
+    </node>
+    <executable cmd="ros2 bag play ros2_ws/src/inorbit_republisher/test/sample_data/hardcodedRosbag/rosbag2_2024_12_13-19_33_34_0.db3 -l" output="screen" />
+</launch>

inorbit_republisher/launch/test_republisher.launch.xml

@@ -0,0 +1,5 @@
+<launch>
+  <node name="inorbit_republisher" pkg="inorbit_republisher" exec="republisher">
+    <param name="config" value="$(dirname)/config/example_unit_test.yaml" />
+  </node>
+</launch>

inorbit_republisher/package.xml

@@ -10,4 +10,4 @@
   <export>
     <build_type>ament_python</build_type>
   </export>
-</package>
+</package>

inorbit_republisher/setup.cfg

@@ -1,4 +1,4 @@
 [develop]
 script-dir=$base/lib/inorbit_republisher
 [install]
-install-scripts=$base/lib/inorbit_republisher
+install-scripts=$base/lib/inorbit_republisher

inorbit_republisher/setup.py

@@ -27,4 +27,4 @@
             'republisher = inorbit_republisher.republisher:main'
         ],
     },
-)
+)

inorbit_republisher/test/README.md

@@ -0,0 +1,65 @@
+# Sample data for testing
+
+A very simple ``rosbag``  with hardcoded data for smoke testing the transformer node.
+
+```bash
+$root@7c94d2cf9659:~# ros2 bag info ros2_ws/src/inorbit_republisher/test/sample_data/hardcodedRosbag/rosbag2_2024_12_13-19_33_34_0.db3
+
+closing.
+[INFO] [1734553121.938063653] [rosbag2_storage]: Opened database 'ros2_ws/src/inorbit_republisher/test/sample_data/hardcodedRosbag/rosbag2_2024_12_13-19_33_34_0.db3' for READ_ONLY.
+
+Files:             ros2_ws/src/inorbit_republisher/test/sample_data/hardcodedRosbag/rosbag2_2024_12_13-19_33_34_0.db3
+Bag size:          24.0 KiB
+Storage id:        sqlite3
+Duration:          16.005861016s
+Start:             Dec 13 2024 19:45:00.085674077 (1734119100.085674077)
+End:               Dec 13 2024 19:45:16.091535093 (1734119116.091535093)
+Messages:          34
+Topic information: Topic: /my_magnetic_field | Type: sensor_msgs/msg/MagneticField | Count: 17 | Serialization Format: cdr
+                   Topic: /my_temperature | Type: sensor_msgs/msg/Temperature | Count: 17 | Serialization Format: cdr
+
+```
+
+To validate the node works launch the sample by using the ``sample_data.launch.xml`` launch file and look at ``out`` topic: ``ros2 topic echo my_temperature``.
+1. **Start ROS2 docker container (optional)**:
+You can run the commands below for building and running the republisher inside a docker container.
+  ```bash
+  docker run -ti --rm \
+  --workdir /root/ros2_ws/ \
+  -v .:/root/ros2_ws/src/inorbit_republisher \
+  osrf/ros:jazzy-desktop
+  ```
+2. **Build the Workspace**:
+  Ensure the workspace is built and the environment is sourced:
+  ```bash
+  cd ~/ros2_ws
+  rosdep install --from-paths src -y --ignore-src
+  colcon build --packages-select inorbit_republisher --symlink-install
+  ```
+3. **Source and Run the Workspace**:
+```bash
+cd ros2_ws/src
+colcon build --packages-select inorbit_republisher --symlink-install
+source install/setup.bash
+cd
+ros2 launch inorbit_republisher sample_data.launch.xml
+# On a different terminal windows
+source /opt/ros/jazzy/setup.bash
+ros2 topic echo inorbit/custom_data
+data: my_magnetic_field_x=1.233536973711507
+---
+data: my_magnetic_field_y=6.557449696128689
+---
+data: my_magnetic_field_z=-1.6201375987982995
+---
+data: my_temperature=29.562268283427592
+---
+data: my_magnetic_field_x=-3.071746389301242
+---
+data: my_magnetic_field_y=6.080682955949868
+---
+data: my_magnetic_field_z=3.952488443512035
+---
+data: my_temperature=21.159168808582983
+---
+```

inorbit_republisher/test/sample_data/config.yaml

@@ -0,0 +1,23 @@
+republishers:
+  - topic: "/my_magnetic_field"
+    msg_type: "sensor_msgs/MagneticField"
+    mappings:
+    - field: "magnetic_field.x"
+      out:
+        topic: "/inorbit/custom_data"
+        key: "my_magnetic_field_x"
+    - field: "magnetic_field.y"
+      out:
+        topic: "/inorbit/custom_data"
+        key: "my_magnetic_field_y"
+    - field: "magnetic_field.z"
+      out:
+        topic: "/inorbit/custom_data"
+        key: "my_magnetic_field_z"
+  - topic: "/my_temperature"
+    msg_type: "sensor_msgs/Temperature"
+    mappings:
+    - field: "temperature"
+      out:
+        topic: "/inorbit/custom_data"
+        key: "my_temperature"

inorbit_republisher/test/sample_data/hardcodedRosbag/metadata.yaml

@@ -0,0 +1,32 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: sqlite3
+  duration:
+    nanoseconds: 16005861016
+  starting_time:
+    nanoseconds_since_epoch: 1734119100085674077
+  message_count: 34
+  topics_with_message_count:
+    - topic_metadata:
+        name: /my_temperature
+        type: sensor_msgs/msg/Temperature
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 17
+    - topic_metadata:
+        name: /my_magnetic_field
+        type: sensor_msgs/msg/MagneticField
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 17
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - rosbag2_2024_12_13-19_33_34_0.db3
+  files:
+    - path: rosbag2_2024_12_13-19_33_34_0.db3
+      starting_time:
+        nanoseconds_since_epoch: 1734119100085674077
+      duration:
+        nanoseconds: 16005861016
+      message_count: 34

inorbit_republisher/test/unit_test/README.md

@@ -0,0 +1,38 @@
+# Unit Test for ROS Republisher Node
+
+This repository contains a unit test for a ROS node that republishes messages from `/input_topic` to `/output_topic`. The test ensures the republisher node processes and republishes messages correctly.
+
+## Test Description
+
+The unit test is implemented in `test_republisher.py` and uses the `unittest` framework along with `rostest`. It includes the following test cases:
+
+- **`test_message_republishing`**: 
+  - Publishes a test message (`key=value`) to `/input_topic`.
+  - Verifies that the republisher node republishes the message with the correct prefix (`input_to_output=`) to `/output_topic`.
+
+- **`test_no_message`**:
+  - Ensures that no messages are received on `/output_topic` at the start of the test.
+
+The test subscribes to `/output_topic` and collects received messages for validation.
+
+## Running the Unit Test
+1. **Start ROS 2 docker container (optional)**:
+You can run the commands below for building and running the republisher inside a docker container.
+  ```bash
+  docker run -ti --rm \
+  --workdir /root/ros2_ws/ \
+  -v .:/root/ros2_ws/src/inorbit_republisher \
+  osrf/ros:jazzy-desktop
+  ```
+2. **Build the Workspace**:
+  Ensure the workspace is built and the environment is sourced:
+  ```bash
+  cd ~/ros2_ws
+  rosdep install --from-paths src -y --ignore-src
+  colcon build --packages-select inorbit_republisher --symlink-install
+  ```
+3. **Source and Run the Workspace**:
+  ```bash
+  source install/local_setup.bash
+  colcon test --packages-select inorbit_republisher  --event-handlers console_cohesion+ console_direct+
+  ```

inorbit_republisher/test/unit_test/test_republisher.py

@@ -0,0 +1,75 @@
+#!/usr/bin/env python3
+import os
+import time
+import unittest
+import pytest
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import AnyLaunchDescriptionSource
+import launch_testing
+from ament_index_python.packages import get_package_share_directory
+
+
+@pytest.mark.launch_test
+def generate_test_description():
+    # Use dynamic path instead of hardcoded absolute path
+    launch_file_path = os.path.join(
+        get_package_share_directory("inorbit_republisher"),
+        "test_republisher.launch.xml"
+    )
+    return LaunchDescription([
+        IncludeLaunchDescription(
+            AnyLaunchDescriptionSource(launch_file_path)
+        ),
+        launch_testing.actions.ReadyToTest(),
+    ])
+
+
+class TestRepublisher(unittest.TestCase):
+
+    def setUp(self):
+        rclpy.init()
+        self.node = rclpy.create_node('test_republisher')
+        self.test_pub = self.node.create_publisher(String, '/input_topic', 10)
+        self.received_messages = []
+
+        self.node.create_subscription(String, '/output_topic', self.callback, 10)
+        # Wait up to 5 seconds for at least one subscriber on /input_topic
+        end_time = time.time() + 5
+        while time.time() < end_time:
+            if self.test_pub.get_subscription_count() > 0:
+                break
+            rclpy.spin_once(self.node, timeout_sec=0.1)
+        else:
+            self.fail("Test setup failed: Publisher connection timeout.")
+
+    def callback(self, msg):
+        self.received_messages.append(msg.data)
+
+    def test_message_republishing(self):
+        test_message = "key=value"
+        expected_message = f"input_to_output={test_message}"
+        self.node.get_logger().info(f"Publishing: {test_message} to /input_topic")
+
+        self.test_pub.publish(String(data=test_message))
+
+        # Spin for up to 5 seconds waiting for the republished message
+        end_time = time.time() + 5
+        while time.time() < end_time:
+            rclpy.spin_once(self.node, timeout_sec=0.1)
+            if expected_message in self.received_messages:
+                break
+
+        self.node.get_logger().info(f"Messages received: {self.received_messages}")
+        self.assertIn(expected_message, self.received_messages)
+
+    def tearDown(self):
+        self.node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    unittest.main()