Update check data action

docs/libraries.rst

@@ -1340,7 +1340,7 @@ A common topic to record is ``/scenario_execution/snapshots`` which publishes ch
 ``check_data()``
 ^^^^^^^^^^^^^^^^
 
-Compare received topic messages using the given ``comparison_operator``, against the specified value. Either the whole message gets compared or a member defined by ``member_name``.
+Compare received topic messages using the given ``comparison_operator``, against the specified value. Either the whole message gets compared or a member defined by ``member_name``. If the ``expected_value`` is a string, set ``eval_expected_value`` to ``true``.
 
 .. list-table:: 
    :widths: 15 15 5 65
@@ -1359,6 +1359,14 @@ Compare received topic messages using the given ``comparison_operator``, against
      - ``string``
      - 
      - Class of the message type (e.g. ``std_msgs.msg.String``)
+   * - ``expected_value``
+     - ``string``
+     - 
+     - Expected value
+   * - ``eval_expected_value``
+     - ``bool``
+     - ``true``
+     - Should the expected value get evaluated (using ``ast.literal_eval()``). Set to ``false`` if expected value is a string
    * - ``qos_profile``
      - ``qos_preset_profiles``
      - ``qos_preset_profiles!system_default``
@@ -1367,10 +1375,6 @@ Compare received topic messages using the given ``comparison_operator``, against
      - ``string``
      - ``''``
      - Name of the type member to check. If empty, the whole type is checked
-   * - ``expected_value``
-     - ``string``
-     - 
-     - Expected value
    * - ``comparison_operator``
      - ``comparison_operator``
      - ``comparison_operator!eq``

scenario_execution_ros/scenario_execution_ros/actions/ros_topic_check_data.py

@@ -77,11 +77,12 @@ def setup(self, **kwargs):
 
     def execute(self,
                 expected_value: str,
+                eval_expected_value: bool,
                 comparison_operator: int,
                 fail_if_no_data: bool,
                 fail_if_bad_comparison: bool,
                 wait_for_first_message: bool):
-        self.set_expected_value(expected_value)
+        self.set_expected_value(expected_value, eval_expected_value)
         self.comparison_operator = get_comparison_operator(comparison_operator)
         self.fail_if_no_data = fail_if_no_data
         self.fail_if_bad_comparison = fail_if_bad_comparison
@@ -123,12 +124,15 @@ def check_data(self, msg):
                 self.feedback_message = f"Member name not found {self.member_name}"
         self.found = self.comparison_operator(value, self.expected_value)
 
-    def set_expected_value(self, expected_value_string):
+    def set_expected_value(self, expected_value_string, eval_expected_value):
         if not isinstance(expected_value_string, str):
             raise ActionError("Only string allowed as expected_value.", action=self)
         error_string = ""
         try:
-            parsed_value = literal_eval("".join(expected_value_string.split('\\')))
+            if eval_expected_value:
+                parsed_value = literal_eval("".join(expected_value_string.split('\\')))
+            else:
+                parsed_value = expected_value_string
             msg = get_ros_message_type(self.topic_type)()
             if self.member_name == "":
                 self.expected_value = msg
@@ -140,5 +144,5 @@ def set_expected_value(self, expected_value_string):
                     self.expected_value = parsed_value
                 else:
                     set_message_fields(self.expected_value, parsed_value)
-        except (TypeError, AttributeError) as e:
+        except (TypeError, AttributeError, ValueError) as e:
             raise ActionError(f"Could not parse '{expected_value_string}'. {error_string}", action=self) from e

scenario_execution_ros/scenario_execution_ros/lib_osc/ros.osc

@@ -91,9 +91,10 @@ action check_data:
     # Compare received topic messages using the given comparison_operator, against the specified value. Either the whole message gets compared or a member defined by member_name.
     topic_name: string                   # name of the topic to connect to
     topic_type: string                   # class of the message type (e.g. std_msgs.msg.String)
+    expected_value: string               # expected value of the variable
+    eval_expected_value: bool = true     # should the expected value get evaluated (using ast.literal_eval). Set to false for string
     qos_profile: qos_preset_profiles = qos_preset_profiles!system_default # qos profile for the subscriber
     member_name: string = ""             # name of the member to check, if empty the whole message is checked
-    expected_value: string               # expected value of the variable
     comparison_operator: comparison_operator = comparison_operator!eq # one from the python `operator module`_
     fail_if_no_data: bool = false        # py_trees.common.Status.FAILURE instead of py_trees.common.Status.RUNNING if there is no data on action execution
     fail_if_bad_comparison: bool = false # py_trees.common.Status.FAILURE instead of py_trees.common.Status.RUNNING if comparison failed

scenario_execution_ros/test/test_check_data.py

@@ -91,6 +91,33 @@ def test_success_member(self):
         self.execute(scenario_content)
         self.assertTrue(self.scenario_execution_ros.process_results())
 
+    def test_success_member_string(self):
+        scenario_content = """
+import osc.ros
+
+scenario test:
+    do parallel:
+        test: serial:
+            wait elapsed(1s)
+            topic_publish(
+                topic_name: '/bla',
+                topic_type: 'std_msgs.msg.String',
+                value: '{\\\"data\\\": \\\"hello\\\"}')
+        receive: serial:
+            check_data(
+                topic_name: '/bla',
+                topic_type: 'std_msgs.msg.String',
+                member_name: 'data',
+                expected_value: 'hello',
+                eval_expected_value: false)
+            emit end
+        time_out: serial:
+            wait elapsed(10s)
+            emit fail
+"""
+        self.execute(scenario_content)
+        self.assertTrue(self.scenario_execution_ros.process_results())
+
     def test_fail_unknown_type(self):
         scenario_content = """
 import osc.ros