Can't write launch tests with composable nodes #108
Description
Bug report
Required Info:
- Operating System:
- Ubuntu 18.04
- Installation type:
- Eloquent binaries or from source
- Version or commit hash:
- DDS implementation:
- N/A
- Client library (if applicable):
- N/A
Steps to reproduce issue
Example launch test file:
import sys
import unittest
from launch import LaunchDescription
from launch.actions import OpaqueFunction
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
import pytest
@pytest.mark.rostest
def generate_test_description(ready_fn):
return LaunchDescription([
ComposableNodeContainer(
package='rclcpp_components',
node_executable='component_container',
node_name='my_node_container',
node_namespace='',
composable_node_descriptions=[
ComposableNode(
package='composition',
node_plugin='composition::Talker'
)
],
output='screen'
),
OpaqueFunction(function=lambda context: ready_fn()),
])
class TestMyNode(unittest.TestCase):
def test_something(self):
print('We do not see this message', file=sys.stderr)Expected behavior
The tests runs and passes without errors.
Actual behavior
Different runtime errors depending how you run the test.
launch_test
[INFO] [launch]: All log files can be found below /home/jacob/.ros/log/2019-12-16-17-23-38-303988-warner-30644 [INFO] [launch]: Default logging verbosity is set to INFO test_something (example_launch_test.TestMyNode) ... We do not see this message ok
Ran 1 test in 0.000s
OK
[INFO] [component_container-1]: process started with pid [30649]
[ERROR] [launch]: Caught exception in launch (see debug for traceback): context.locals does not contain attribute 'launch_ros_node', it contains: [event]
[INFO] [component_container-1]: sending signal 'SIGINT' to process[component_container-1]
[ERROR] [component_container-1]: process has died [pid 30649, exit code -2, cmd '/opt/ros/eloquent/lib/rclcpp_components/component_container --ros-args -r __node:=my_node_container'].
Ran 0 tests in 0.000s
OK
ros2 test
[INFO] [launch]: All log files can be found below /home/jacob/.ros/log/2019-12-16-17-21-29-265673-warner-30543 [INFO] [launch]: Default logging verbosity is set to INFO test_something (example_launch_test.TestMyNode) ... We do not see this message ok
Ran 1 test in 0.000s
OK
Task exception was never retrieved
future: <Task finished coro=<LaunchService._process_one_event() done, defined at /opt/ros/eloquent/lib/python3.6/site-packages/launch/launch_service.py:289> exception=RuntimeError('Signal event received before subprocess transport available.',)>
Traceback (most recent call last):
File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/launch_service.py", line 291, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/launch_service.py", line 311, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/actions/opaque_function.py", line 75, in execute
return self.__function(context, *self.__args, **self.__kwargs)
File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/actions/execute_process.py", line 383, in __on_signal_process_event
raise RuntimeError('Signal event received before subprocess transport available.')
RuntimeError: Signal event received before subprocess transport available.
[INFO] [component_container-1]: process started with pid [30555]
Task exception was never retrieved
future: <Task finished coro=<LaunchService._process_one_event() done, defined at /opt/ros/eloquent/lib/python3.6/site-packages/launch/launch_service.py:289> exception=InvalidHandle('Tried to use a handle that has been destroyed.',)>
Traceback (most recent call last):
File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/launch_service.py", line 291, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/launch_service.py", line 311, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/eloquent/lib/python3.6/site-packages/launch_ros/actions/load_composable_nodes.py", line 167, in execute
self.__target_container.node_name
File "/opt/ros/eloquent/lib/python3.6/site-packages/rclpy/node.py", line 1201, in create_client
with self.handle as node_capsule:
File "/opt/ros/eloquent/lib/python3.6/site-packages/rclpy/handle.py", line 150, in enter
return self._get_capsule()
File "/opt/ros/eloquent/lib/python3.6/site-packages/rclpy/handle.py", line 132, in _get_capsule
raise InvalidHandle('Tried to use a handle that has been destroyed.')
rclpy.handle.InvalidHandle: Tried to use a handle that has been destroyed.
[ERROR] [component_container-1]: process[component_container-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [component_container-1]: sending signal 'SIGTERM' to process[component_container-1]
[ERROR] [component_container-1]: process has died [pid 30555, exit code -15, cmd '/opt/ros/eloquent/lib/rclcpp_components/component_container --ros-args -r __node:=my_node_container'].
Ran 0 tests in 0.000s
OK
Additional information
The first error (running with launch_test) is because launch_ros_node is not added to the launch context, which LoadComposableNode action assumes exists:
launch_ros/launch_ros/launch_ros/actions/load_composable_nodes.py
Lines 186 to 190 in c37340d
This is closely related to #97.
I'm not sure about the second error.