Merge pull request #13 from tecnalia-advancedmanufacturing-robotics/f…

…ix_service_call

Fix service call

README.md

@@ -1,10 +1,10 @@
-[![license - apache 2.0](https://img.shields.io/:license-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
-
 # node_test
 
+[![license - apache 2.0](https://img.shields.io/:license-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
+
 The package `node_test` extends `rostest` to add more testing functionalities at node level.
 
-**Author & Maintainer**: [Anthony Remazeilles](https://github.com/aremazeilles), [email protected]
+**Author & Maintainer**: [Anthony Remazeilles](https://github.com/aremazeilles), <mailto:[email protected]>
 
 **Affiliation** : Tecnalia Research and Innovation, Spain
 
@@ -17,6 +17,7 @@ See [LICENSE.md](LICENSE.md) for more details.
 
 We assume [`ROS`][ros] is installed on the machine.
 Code developed and tested so far under `ROS kinetic`.
+Currently working under `ROS noetic`
 
 [ros]: http://www.ros.org/
 
@@ -93,7 +94,6 @@ rostest node_test example_srv.test
 
 ### test_filter
 
-
 `test_filter` enables testing a filter-like node, that is supposed to publish a message after having processed a received message.
 
 An example is provided in [msg_filter.test](node_test/test/msg_filter.test):

node_test/package.xml

@@ -14,6 +14,10 @@
   <depend>rospy</depend>
   <depend>rospy_message_converter</depend>
   <test_depend>roslint</test_depend>
-  <build_depend>rostest</build_depend>
+  <depend>rosservice</depend>
+  <depend>rostest</depend>
+  <depend>rostopic</depend>
+  <test_depend>std_srvs</test_depend>
+  <test_depend>std_msgs</test_depend>
 
 </package>

node_test/src/node_test/test_filter.py

@@ -11,7 +11,7 @@
         <rosparam>
             filters:
                 - topic_in: topic to which the filter node is subscribed to
-                  topic_out: topic to which the filter node will pubish filter output
+                  topic_out: topic to which the filter node will publish filter output
                   msg_in: message to publish on topic_in, in python dictionary format
                   msg_out: message to be received on topic_out, in python dictionary format
                   timeout: limit time [s] for receiving the filter output
@@ -25,16 +25,14 @@
 __author__ = "Anthony Remazeilles"
 __email__ = "[email protected]"
 __copyright__ = "Copyright (C) 2020 Tecnalia Research and Innovation"
-__licence__ = "Apache 2.0"
+__license__ = "Apache 2.0"
 
 import sys
 import time
 import unittest
 import rospy
 import rostopic
-import rosmsg
 import rostest
-import genpy
 from rospy_message_converter import message_converter
 
 CLASSNAME = 'filterTest'
@@ -73,8 +71,8 @@ def test_filter(self):
                 keys = ['topic_in', 'topic_out', 'msg_in', 'msg_out', 'timeout']
 
                 for item in keys:
-                    if item not in keys:
-                        self.fail("{} field required, but not specified in {}".format(item, call))
+                    if item not in one_filter:
+                        self.fail("{} field required, but not specified in {}".format(item, one_filter))
 
             if one_filter['topic_in'] == 'None':
                 rospy.logwarn('None input converted to empty input')
@@ -123,10 +121,10 @@ def _test_filter(self, topic_in, topic_out, msg_in, msg_out, timeout):
             ros_msg_in = message_converter.convert_dictionary_to_ros_message(msg_in_type, msg_in)
             rospy.loginfo("Generated message: [%s]" % (ros_msg_in))
         except ValueError as err:
-            msg_err = "Prb in message in contruction \n"
+            msg_err = "Prb in message in construction \n"
             msg_err += "Expected type: [%s]\n" % (msg_in_type)
             msg_err += "dictionary: [%s]\n" % (msg_in)
-            msg_err += "Erorr: [%s]\n" % (str(err))
+            msg_err += "Error: [%s]\n" % (str(err))
             self.fail(msg_err)
 
         # getting message to receive
@@ -139,10 +137,10 @@ def _test_filter(self, topic_in, topic_out, msg_in, msg_out, timeout):
             ros_msg_out = message_converter.convert_dictionary_to_ros_message(msg_out_type, msg_out)
             rospy.loginfo("Generated message: [%s]" % (ros_msg_out))
         except ValueError as err:
-            msg_err = "Prb in message in contruction \n"
+            msg_err = "Prb in message construction \n"
             msg_err += "Expected type: [%s]\n" % (msg_out_type)
             msg_err += "dictionary: [%s]\n" % (msg_out)
-            msg_err += "Erorr: [%s]\n" % (str(err))
+            msg_err += "Errorr: [%s]\n" % (str(err))
             self.fail(msg_err)
 
         # subscription

node_test/src/node_test/test_service.py

@@ -23,7 +23,7 @@
 __author__ = "Anthony Remazeilles"
 __email__ = "[email protected]"
 __copyright__ = "Copyright (C) 2020 Tecnalia Research and Innovation"
-__licence__ = "Apache 2.0"
+__license__ = "Apache 2.0"
 
 import sys
 import time
@@ -92,7 +92,7 @@ def setUp(self):
     def test_advertise_service(self):
         """Test services are advertised"""
         t_start = self.t_start
-        s_name_set = set([ item['name'] for item in self.calls])
+        s_name_set = set([item['name'] for item in self.calls])
         t_timeout_max = 10.0
 
         while not rospy.is_shutdown():
@@ -133,11 +133,16 @@ def _test_service(self, srv_name, srv_input, srv_output):
             srv_proxy = rospy.ServiceProxy(srv_name, srv_class)
         except KeyError as err:
             msg_err = "Service proxy could not be created"
+            msg_err += "Error: [%s]\n" % (str(err))
             self.fail(msg_err)
 
         try:
             if srv_input:
-                srv_resp = srv_proxy(**srv_input)
+                srv_type = rosservice.get_service_type(srv_name)
+                rospy.loginfo(f"Service type: {srv_type}")
+
+                req = message_converter.convert_dictionary_to_ros_message(srv_type, srv_input, kind='request')
+                srv_resp = srv_proxy(req)
             else:
                 srv_resp = srv_proxy()
 

node_test/test_nodes/service_server.py

@@ -14,21 +14,25 @@
 def empty_cb(req):
     return EmptyResponse()
 
+
 def set_bool_cb(req):
     response = SetBoolResponse()
     response.success = True
     response.message = str(req.data)
     return response
 
+
 def trigger_cb(req):
     return TriggerResponse()
 
+
 def trigger2_cb(req):
     response = TriggerResponse()
     response.success = True
     response.message = 'well done!'
     return response
 
+
 def main():
     rospy.init_node('service_server')