Verify standard ROS messages are correctly collected

integration-test/go.sh

@@ -45,12 +45,8 @@ docker run -t --rm \
        -v ~/.config/modality_cli:/root/.config/modality_cli \
        modality-ros2-integration-test
 
-
-docker run -t --rm --net=host \
-       -e PATH=/ \
-       -e MODALITY_AUTH_TOKEN=${modality_auth_token} \
-       --entrypoint /bin/bash \
-       -v ./smoke.speqtr:/smoke.speqtr \
-       ${reflector_image} \
-       -c "conform spec eval --file /smoke.speqtr --dry-run"
-
+docker run -t --rm --net=host -e PATH=/ -e MODALITY_AUTH_TOKEN=${modality_auth_token} \
+       -v ./specs:/specs \
+       -v ./inner_verify.sh:/inner_verify.sh \
+       --entrypoint /bin/bash ${reflector_image} \
+       -c "/inner_verify.sh"

integration-test/inner.sh

@@ -3,6 +3,19 @@
 source /opt/ros/humble/setup.bash
 export LD_PRELOAD=/libmodality_ros_hook.so:/opt/ros/humble/lib/librmw_fastrtps_cpp.so
 
+set -ex
+
+(
+    cd /messages
+    for msg_file in $(find . -name "*.json"); do
+        schema=$(dirname ${msg_file})/$(basename ${msg_file} .json)
+        schema=$(echo ${schema} | sed "s/\\.\\///" )
+        topic=${schema}
+        ros2 topic pub -t 1 -w 0 ${topic} ${schema} "$(cat ${msg_file})"
+    done
+)
+
+
 /opt/ros/humble/lib/demo_nodes_py/listener &
 sleep 1
 /opt/ros/humble/lib/demo_nodes_py/talker &

integration-test/inner_verify.sh

@@ -0,0 +1,8 @@
+set -ex
+
+modality workspace sync-indices
+modality query *@*
+
+for s in /specs/*; do
+    conform spec eval --file ${s} --dry-run
+done

integration-test/messages/geometry_msgs/msg/Accel.json

@@ -0,0 +1,4 @@
+{
+    linear: { x: 1.0, y: 2.0, z: 3.0 },
+    angular: { x: 4.0, y: 5.0, z: 6.0 }
+}

integration-test/messages/geometry_msgs/msg/AccelStamped.json

@@ -0,0 +1,10 @@
+{
+    header: {
+        stamp: { sec: 42, nanosec: 43 },
+        frame_id: "test"
+    },
+    accel: {
+        linear: { x: 1.0, y: 2.0, z: 3.0 },
+        angular: { x: 4.0, y: 5.0, z: 6.0 }
+    }
+}

integration-test/messages/geometry_msgs/msg/AccelWithCovariance.json

@@ -0,0 +1,14 @@
+{
+    accel: {
+        linear: { x: 1.0, y: 2.0, z: 3.0 },
+        angular: { x: 4.0, y: 5.0, z: 6.0 }
+    },
+    covariance: [
+        1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+        1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+        1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+        1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+        1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+        1.0, 1.0, 1.0, 1.0, 1.0, 1.0
+    ]
+}

integration-test/messages/geometry_msgs/msg/AccelWithCovarianceStamped.json

@@ -0,0 +1,20 @@
+{
+    header: {
+        stamp: { sec: 42, nanosec: 43},
+        frame_id: "test"
+    },
+    accel: {
+        accel: {
+            linear: { x: 1.0, y: 2.0, z: 3.0 },
+            angular: { x: 4.0, y: 5.0, z: 6.0 }
+        },
+        covariance: [
+            1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+            1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+            1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+            1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+            1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+            1.0, 1.0, 1.0, 1.0, 1.0, 1.0
+        ]
+    }
+}

integration-test/messages/geometry_msgs/msg/Inertia.json

@@ -0,0 +1,10 @@
+{
+    m: 1.0,
+    com: { x: 2.0, y: 3.0, z: 4.0},
+    ixx: 5.0,
+    ixy: 6.0,
+    ixz: 7.0,
+    iyy: 8.0,
+    iyz: 9.0,
+    izz: 10.0
+}

integration-test/messages/geometry_msgs/msg/InertiaStamped.json

@@ -0,0 +1,16 @@
+{
+    header: {
+        stamp: { sec: 42, nanosec: 43},
+        frame_id: "test"
+    },
+    inertia: {
+        m: 1.0,
+        com: { x: 2.0, y: 3.0, z: 4.0},
+        ixx: 5.0,
+        ixy: 6.0,
+        ixz: 7.0,
+        iyy: 8.0,
+        iyz: 9.0,
+        izz: 10.0
+    }
+}

integration-test/messages/geometry_msgs/msg/Point.json

@@ -0,0 +1,5 @@
+{
+    x: 1.0,
+    y: 2.0,
+    z: 3.0
+}

integration-test/messages/geometry_msgs/msg/Point32.json

@@ -0,0 +1,5 @@
+{
+    x: 1.0,
+    y: 2.0,
+    z: 3.0
+}

integration-test/messages/geometry_msgs/msg/PointStamped.json

@@ -0,0 +1,11 @@
+{
+    header: {
+        stamp: { sec: 42, nanosec: 43 },
+        frame_id: "test"
+    },
+    point: {
+        x: 1.0,
+        y: 2.0,
+        z: 3.0
+    }
+}

integration-test/messages/geometry_msgs/msg/Polygon.json

@@ -0,0 +1,7 @@
+{
+    points: [
+        {x: 1, y: 2, z: 3},
+        {x: 4, y: 5, z: 6},
+        {x: 7, y: 8, z: 9}
+    ]
+}

integration-test/messages/geometry_msgs/msg/PolygonStamped.json

@@ -0,0 +1,13 @@
+{
+    header: {
+        stamp: { sec: 42, nanosec: 43 },
+        frame_id: "test"
+    },
+    polygon: {
+        points: [
+            {x: 1, y: 2, z: 3},
+            {x: 4, y: 5, z: 6},
+            {x: 7, y: 8, z: 9}
+        ]
+    }
+}

integration-test/messages/geometry_msgs/msg/Pose.json

@@ -0,0 +1,4 @@
+{
+    position: { x: 1.0, y: 2.0, z: 3.0 },
+    orientation: { x: 4.0, y: 5.0, z: 6.0, w: 7.0 }
+}

integration-test/messages/geometry_msgs/msg/Pose2D.json

@@ -0,0 +1,5 @@
+{
+    x: 1.0,
+    y: 2.0,
+    theta: 3.0
+}

integration-test/messages/geometry_msgs/msg/PoseArray.json

@@ -0,0 +1,16 @@
+{
+    header: {
+        stamp: { sec: 42, nanosec: 43},
+        frame_id: "test"
+    },
+    poses: [
+        {
+            position: { x: 1.0, y: 2.0, z: 3.0 },
+            orientation: { x: 4.0, y: 5.0, z: 6.0, w: 7.0 }
+        },
+        {
+            position: { x: 8.0, y: 9.0, z: 10.0 },
+            orientation: { x: 11.0, y: 12.0, z: 13.0, w: 14.0 }
+        }
+    ]
+}

integration-test/messages/geometry_msgs/msg/PoseStamped.json

@@ -0,0 +1,10 @@
+{
+    header: {
+        stamp: { sec: 42, nanosec: 43 },
+        frame_id: "test"
+    },
+    pose: {
+        position: { x: 1.0, y: 2.0, z: 3.0 },
+        orientation: { x: 4.0, y: 5.0, z: 6.0, w: 7.0 }
+    }
+}

integration-test/messages/geometry_msgs/msg/PoseWithCovariance.json

@@ -0,0 +1,14 @@
+{
+    pose: {
+        position: { x: 1.0, y: 2.0, z: 3.0 },
+        orientation: { x: 4.0, y: 5.0, z: 6.0, w: 7.0 }
+    },
+    covariance: [
+        1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+        1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+        1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+        1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+        1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+        1.0, 1.0, 1.0, 1.0, 1.0, 1.0
+    ]
+}

integration-test/messages/geometry_msgs/msg/PoseWithCovarianceStamped.json

@@ -0,0 +1,20 @@
+{
+    header: {
+        stamp: { sec: 42, nanosec: 43 },
+        frame_id: "test"
+    },
+    pose: {
+        pose: {
+            position: { x: 1.0, y: 2.0, z: 3.0 },
+            orientation: { x: 4.0, y: 5.0, z: 6.0, w: 7.0 }
+        },
+        covariance: [
+            1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+            1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+            1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+            1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+            1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+            1.0, 1.0, 1.0, 1.0, 1.0, 1.0
+        ]
+    }
+}

integration-test/messages/geometry_msgs/msg/Quaternion.json

@@ -0,0 +1,6 @@
+{
+    x: 1.0,
+    y: 2.0,
+    z: 3.0,
+    w: 4.0,
+}

integration-test/messages/geometry_msgs/msg/QuaternionStamped.json

@@ -0,0 +1,12 @@
+{
+    header: {
+        stamp: { sec: 42, nanosec: 43 },
+        frame_id: "test"
+    },
+    quaternion: {
+        x: 1.0,
+        y: 2.0,
+        z: 3.0,
+        w: 4.0,
+    }
+}

integration-test/messages/geometry_msgs/msg/Transform.json

@@ -0,0 +1,4 @@
+{
+    translation: { x: 1.0, y: 2.0, z: 3.0 },
+    rotation: { x: 4.0, y: 5.0, z: 6.0, w: 7.0 }
+}

integration-test/messages/geometry_msgs/msg/TransformStamped.json

@@ -0,0 +1,10 @@
+{
+    header: {
+        stamp: { sec: 42, nanosec: 43 },
+        frame_id: "test"
+    },
+    transform: {
+        translation: { x: 1.0, y: 2.0, z: 3.0 },
+        rotation: { x: 4.0, y: 5.0, z: 6.0, w: 7.0 }
+    }
+}

integration-test/messages/geometry_msgs/msg/Twist.json

@@ -0,0 +1,4 @@
+{
+    linear: { x: 1.0, y: 2.0, z: 3.0 },
+    angular: { x: 4.0, y: 5.0, z: 6.0 }
+}

integration-test/messages/geometry_msgs/msg/TwistStamped.json

@@ -0,0 +1,10 @@
+{
+    header: {
+        stamp: { sec: 42, nanosec: 43 },
+        frame_id: "test"
+    },
+    twist: {
+        linear: { x: 1.0, y: 2.0, z: 3.0 },
+        angular: { x: 4.0, y: 5.0, z: 6.0 }
+    }
+}

integration-test/messages/geometry_msgs/msg/TwistWithCovariance.json

@@ -0,0 +1,14 @@
+{
+    twist: {
+        linear: { x: 1.0, y: 2.0, z: 3.0 },
+        angular: { x: 4.0, y: 5.0, z: 6.0 }
+    },
+    covariance: [
+        1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+        1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+        1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+        1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+        1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+        1.0, 1.0, 1.0, 1.0, 1.0, 1.0
+    ]
+}

integration-test/messages/geometry_msgs/msg/TwistWithCovarianceStamped.json

@@ -0,0 +1,20 @@
+{
+    header: {
+        stamp: { sec: 42, nanosec: 43 },
+        frame_id: "test"
+    },
+    twist: {
+        twist: {
+            linear: { x: 1.0, y: 2.0, z: 3.0 },
+            angular: { x: 4.0, y: 5.0, z: 6.0 }
+        },
+        covariance: [
+            1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+            1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+            1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+            1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+            1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+            1.0, 1.0, 1.0, 1.0, 1.0, 1.0
+        ]
+    }
+}

integration-test/messages/geometry_msgs/msg/Vector3.json

@@ -0,0 +1,5 @@
+{
+    x: 1.0,
+    y: 2.0,
+    z: 3.0
+}

integration-test/messages/geometry_msgs/msg/Vector3Stamped.json

@@ -0,0 +1,11 @@
+{
+    header: {
+        stamp: { sec: 42, nanosec: 43 },
+        frame_id: "test"
+    },
+    vector: {
+        x: 1.0,
+        y: 2.0,
+        z: 3.0
+    }
+}

integration-test/messages/geometry_msgs/msg/Wrench.json

@@ -0,0 +1,4 @@
+{
+    force: { x: 1.0, y: 2.0, z: 3.0 },
+    torque: { x: 4.0, y: 5.0, z: 6.0 }
+}

integration-test/messages/geometry_msgs/msg/WrenchStamped.json

@@ -0,0 +1,10 @@
+{
+    header: {
+        stamp: { sec: 42, nanosec: 43 },
+        frame_id: "test"
+    },
+    wrench: {
+        force: { x: 1.0, y: 2.0, z: 3.0 },
+        torque: { x: 4.0, y: 5.0, z: 6.0 }
+    }
+}

integration-test/messages/nav_msgs/msg/GridCells.json

@@ -0,0 +1,12 @@
+{
+    header: {
+        stamp: { sec: 42, nanosec: 43 },
+        frame_id: "test"
+    },
+    cell_width: 1.0,
+    cell_height: 2.0,
+    cells: [
+        { x: 1.0, y: 2.0, z: 3.0 },
+        { x: 4.0, y: 5.0, z: 6.0 }
+    ]
+}

integration-test/messages/nav_msgs/msg/MapMetaData.json

@@ -0,0 +1,10 @@
+{
+    map_load_time: { sec: 42, nanosec: 43 },
+    resolution: 1.0,
+    width: 2,
+    height: 3,
+    origin: {
+        position: { x: 1.0, y: 2.0, z: 3.0 },
+        orientation: { x: 4.0, y: 5.0, z: 6.0, w: 7.0 }
+    }
+}