Add tests for launch_utils of controller manager (#2147)

controller_manager/test/test_ros2_control_node_launch.py

@@ -37,13 +37,19 @@
 from launch_testing.actions import ReadyToTest
 import launch_testing.markers
 import launch_ros.actions
+from launch_ros.actions import Node
 
 import rclpy
 from controller_manager.test_utils import (
     check_controllers_running,
     check_node_running,
 )
-from controller_manager.launch_utils import generate_controllers_spawner_launch_description
+from controller_manager.launch_utils import (
+    generate_controllers_spawner_launch_description,
+    generate_controllers_spawner_launch_description_from_dict,
+    generate_load_controller_launch_description,
+)
+
 
 
 # Executes the given launch file and checks if all nodes can be started
@@ -102,6 +108,63 @@ def setUp(self):
     def tearDown(self):
         self.node.destroy_node()
 
+    # ------------------------------------------------------------------
+    # Helper methods
+    # ------------------------------------------------------------------
+    def _extract_actions(self, result):
+        """Return a list of launch actions, regardless of type."""
+        if isinstance(result, list):
+            return result
+        elif hasattr(result, "entities"):  # LaunchDescription in newer ROS2
+            return list(result.entities)
+        else:
+            return [result]
+
+    def _assert_launch_result(self, result, min_len=0):
+        """Verify that result is list- or LaunchDescription-like."""
+        self.assertTrue(
+            isinstance(result, (list, LaunchDescription)),
+            f"Unexpected result type: {type(result)}",
+        )
+        actions = self._extract_actions(result)
+        self.assertGreaterEqual(len(actions), min_len)
+        for act in actions:
+            self.assertTrue(
+                hasattr(act, "execute") or hasattr(act, "visit"),
+                f"Invalid action type: {type(act)}",
+            )
+        return actions
+
+    # ------------------------------------------------------------------
+    # Launch utility tests
+    # ------------------------------------------------------------------
+    def test_generate_controllers_spawner_from_list(self):
+        controllers = ["test_controller_1", "test_controller_2"]
+        result = generate_controllers_spawner_launch_description(controllers)
+        actions = self._assert_launch_result(result, min_len=1)
+        self.assertTrue(actions is not None and len(actions) > 0)
+
+    def test_generate_controllers_spawner_from_dict(self):
+        """Ensure dict-based API works with string param files (old-style)."""
+        controllers = {
+            "ctrl_A": ["/tmp/dummy.yaml"],
+            "ctrl_B": ["/tmp/dummy.yaml"],
+        }
+        result = generate_controllers_spawner_launch_description_from_dict(controllers)
+        actions = self._extract_actions(result)
+        self.assertIsInstance(result, LaunchDescription)
+        self.assertEqual(len(actions), 3)
+        self.assertIsInstance(actions[-1], Node)
+
+    def test_generate_load_controller_launch_description(self):
+        """Test load controller description with valid single string params."""
+        controllers = ["test_controller_load"]
+        result = generate_load_controller_launch_description(controllers)
+        actions = self._extract_actions(result)
+        self.assertIsInstance(result, LaunchDescription)
+        self.assertEqual(len(actions), 3)
+        self.assertIsInstance(actions[-1], Node)
+
     def test_node_start(self):
         check_node_running(self.node, "controller_manager")