[desc][test] Run the test only after ROS Jade where the method used f…

…rom xacro becomes available.

[desc][test] I think xacro Python API is not meant to be used from outside of xacro pkg.

[ci] Disable tests on Indigo as tests in openni_description might never pass on Indigo due to xacro issue.

.travis.yml

@@ -15,8 +15,8 @@ notifications:
       - [email protected]
 env:
   matrix:
-    - ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu  USE_DEB=true
-    - ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu  USE_DEB=true
+    - ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu  USE_DEB=true  NOT_TEST_INSTALL=true
+    - ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu  USE_DEB=true  NOT_TEST_INSTALL=true
     - ROS_DISTRO="indigo" PRERELEASE=true PRERELEASE_DOWNSTREAM_DEPTH=1
     - ROS_DISTRO="kinetic"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu  USE_DEB=true
     - ROS_DISTRO="kinetic"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu  USE_DEB=true

openni_description/CMakeLists.txt

@@ -9,5 +9,7 @@ install(DIRECTORY model DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 install(DIRECTORY test  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} USE_SOURCE_PERMISSIONS)
 if (CATKIN_ENABLE_TESTING)
   find_package(catkin REQUIRED COMPONENTS rostest)
-  add_rostest(test/sample_kobuki.test)
+  if("$ENV{ROS_DISTRO}" STRGREATER "jade")
+    add_rostest(test/sample_kobuki.test)
+  endif()
 endif ()

openni_description/test/test_openni_desc.py

@@ -8,6 +8,7 @@
 import unittest
 
 import rospkg
+import xacro
 
 
 class TestOpenniDescription(unittest.TestCase):
@@ -23,9 +24,15 @@ def test_urdf_turtlebot(self):
         Check if check_urdf command passes with the urdf that is generated in
         the .test file this test case is called from.
         """
-        self.assertTrue(os.path.isfile(rospkg.RosPack().get_path('openni_description') + "/test/sample_kobuki.urdf.xacro")
-        print(subprocess.check_output(["rosrun", "xacro", "xacro", rospkg.RosPack().get_path('openni_description') + "/test/sample_kobuki.urdf.xacro", "-o", "./sample_kobuki.urdf"]))
-        self.assertEqual(0, subprocess.call(["check_urdf", "./sample_kobuki.urdf"]))
+        resulted_urdf_file_relpath = "./sample_kobuki.urdf"
+        kobuki_xacro_file_path = rospkg.RosPack().get_path('openni_description') + "/test/sample_kobuki.urdf.xacro"
+        self.assertTrue(os.path.isfile(kobuki_xacro_file_path))
+        xacro_output_memory = xacro.process_file(kobuki_xacro_file_path)
+        xacro_output_file = xacro.open_output(resulted_urdf_file_relpath)
+        xacro_output_file.write(xacro_output_memory.toprettyxml(indent='  '))
+        xacro_output_file.close()
+        self.assertTrue(os.path.isfile(resulted_urdf_file_relpath))
+        self.assertEqual(0, subprocess.call(["check_urdf", resulted_urdf_file_relpath]))
 
 if __name__ == '__main__':
     import rostest