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Refactor test setup to use PathSubstitution #2781

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Refactor test setup to use PathSubstitution #2781

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23 changes: 13 additions & 10 deletions controller_manager/test/test_ros2_control_node_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -30,13 +30,13 @@

import pytest
import unittest
import os
import launch_testing
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@christophfroehlich christophfroehlich Nov 7, 2025

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do we use this?


from ament_index_python.packages import get_package_share_directory, get_package_prefix
from launch import LaunchDescription
from launch_testing.actions import ReadyToTest
import launch_testing.markers
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@christophfroehlich christophfroehlich Nov 7, 2025

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I think we still need this for @pytest.mark.launch_test?

import launch_ros.actions
from launch.substitutions import PathSubstitution
from launch_ros.substitutions import FindPackageShare

import rclpy
from controller_manager.test_utils import (
Expand All @@ -50,8 +50,10 @@
@pytest.mark.launch_test
def generate_test_description():

robot_controllers = os.path.join(
get_package_prefix("controller_manager"), "test", "test_ros2_control_node.yaml"
robot_controllers = (
PathSubstitution(FindPackageShare("controller_manager"))
/ "test"
/ "test_ros2_control_node.yaml"
)

control_node = launch_ros.actions.Node(
Expand All @@ -63,12 +65,13 @@ def generate_test_description():
],
output="both",
)
# Get URDF, without involving xacro
urdf = os.path.join(
get_package_share_directory("ros2_control_test_assets"),
"urdf",
"test_hardware_components.urdf",

urdf = (
PathSubstitution(FindPackageShare("ros2_control_test_assets"))
/ "urdf"
/ "test_hardware_components.urdf"
)

with open(urdf) as infp:
robot_description_content = infp.read()
robot_description = {"robot_description": robot_description_content}
Expand Down