initial forking commit

test/urdf_tests.py

@@ -0,0 +1,80 @@
+#  Copyright (c) 2023 Franka Robotics GmbH
+#
+#  Licensed under the Apache License, Version 2.0 (the "License");
+#  you may not use this file except in compliance with the License.
+#  You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS,
+#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#  See the License for the specific language governing permissions and
+#  limitations under the License.
+
+from os import path
+
+import xacro
+from ament_index_python.packages import get_package_share_directory
+
+arm_id_ = "fer"
+
+xacro_file_name = path.join(
+    get_package_share_directory("franka_description"),
+    "robots",
+    arm_id_,
+    arm_id_ + ".urdf.xacro",
+)
+
+
+def test_load():
+    """Test of hand parameter equal to none."""
+    urdf = xacro.process_file(
+        xacro_file_name,
+        mappings={
+            "arm_id": "fer",
+            "ee_id": "none",
+        },
+    ).toxml()
+    assert urdf.find("fer_finger_joint1") == -1
+
+
+def test_load_with_gripper():
+    """Test of hand parameter equal to a value."""
+    urdf = xacro.process_file(
+        xacro_file_name, mappings={"arm_id": "fer", "ee_id": "franka_hand"}
+    ).toxml()
+    assert urdf.find("fer_finger_joint") != -1
+
+
+def test_check_interfaces():
+    """Test of the parameters for ros2_control hardware interface."""
+    urdf = xacro.process_file(
+        xacro_file_name, mappings={"ros2_control": "true"}
+    ).toxml()
+    assert urdf.find("state_interface") != -1
+    assert urdf.find("command_interface") != -1
+    assert urdf.find("position") != -1
+    assert urdf.find("velocity") != -1
+    assert urdf.find("effort") != -1
+
+
+def test_load_with_fake_hardware():
+    """Test of use_fake_hardware parameter for ros2_control hardware interface."""
+    urdf = xacro.process_file(
+        xacro_file_name, mappings={"ros2_control": "true", "use_fake_hardware": "true"}
+    ).toxml()
+    assert urdf.find("fake_components/GenericSystem") != -1
+
+
+def test_load_with_robot_ip():
+    """Test of robot_ip parameter for ros2_control hardware interface."""
+    urdf = xacro.process_file(
+        xacro_file_name,
+        mappings={"ros2_control": "true", "robot_ip": "franka_ip_address"},
+    ).toxml()
+    assert urdf.find("franka_ip_address") != -1
+
+
+if __name__ == "__main__":
+    pass