add test to check if ros node is loadable,

dialogflow_task_executive/CMakeLists.txt

@@ -10,9 +10,6 @@ if(NOT (gcc_dump_machine MATCHES "x86_64-.*" OR gcc_dump_machine MATCHES "aarch6
   third_party/boringssl-with-bazel/src/crypto/hrss/asm/poly_rq_mul.S:306: Error: bad register name `%rbp'
   third_party/boringssl-with-bazel/src/crypto/hrss/asm/poly_rq_mul.S:308: Error: bad register expression
   third_party/boringssl-with-bazel/src/crypto/hrss/asm/poly_rq_mul.S:309: Error: bad register name `%rsp'")
-  find_package(catkin)
-  catkin_package()
-  return()
 endif()
 
 find_package(catkin REQUIRED COMPONENTS
@@ -42,7 +39,11 @@ catkin_package(
   CATKIN_DEPENDS message_runtime
 )
 
-if("$ENV{ROS_DISTRO}" STREQUAL "indigo")
+if(NOT(gcc_dump_machine MATCHES "x86_64-.*" OR gcc_dump_machine MATCHES "aarch64-.*"))
+  message(WARNING "pip -i requirements.txt with grpcio works only with i686, so create dummy requirements.txt and run 'catkin_generate_virtualenv' for ${gcc_dump_machine}")
+  file(WRITE ${CMAKE_CURRENT_SOURCE_DIR}/requirements.txt "")
+  catkin_generate_virtualenv(CHECK_VENV FALSE)
+elseif("$ENV{ROS_DISTRO}" STREQUAL "indigo")
   message(WARNING "following requirements.txt syntax is not support on 14.04")
   message(WARNING "google-api-core[grpc]==1.31.5  # via google-cloud-language")
   message(WARNING "so we intentionally use requirements.txt")
@@ -69,19 +70,24 @@ else()
     )
 endif()
 
-file(GLOB NODE_SCRIPTS_FILES node_scripts/*.py)
-
+file(GLOB PYTHON_SCRIPT_FILES node_scripts/*.py test/*.py)
 catkin_install_python(
-  PROGRAMS ${NODE_SCRIPTS_FILES}
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+  PROGRAMS ${PYTHON_SCRIPT_FILES}
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
 install(DIRECTORY launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS
 )
 
 if(CATKIN_ENABLE_TESTING)
-  find_package(catkin REQUIRED COMPONENTS roslaunch)
+  find_package(catkin REQUIRED COMPONENTS roslaunch rostest)
   roslaunch_add_file_check(launch)
+  if(NOT (gcc_dump_machine MATCHES "x86_64-.*" OR gcc_dump_machine MATCHES "aarch64-.*"))
+    message(WARNING "pip -i requirements.txt work only with i686, so skipping test for ${gcc_dump_machine}")
+  else()
+    add_rostest(test/test_rospy_node.test
+      DEPENDENCIES ${PROJECT_NAME}_generate_virtualenv ${PROJECT_NAME}_generate_messages
+    )
+  endif()
 endif()

dialogflow_task_executive/package.xml

@@ -18,13 +18,15 @@
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>catkin_virtualenv</build_depend>
   <build_depend>message_generation</build_depend>
+  <build_depend>actionlib_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>roslaunch</build_depend>
   <run_depend>app_manager</run_depend>
   <run_depend>message_runtime</run_depend>
   <run_depend>speech_recognition_msgs</run_depend>
   <run_depend>topic_tools</run_depend>
   <!-- <run_depend>python-dialogflow-pip</run_depend> install via catkin_virtualenv -->
+  <test_depend>rostest</test_depend>
 
   <export>
     <pip_requirements>requirements.txt</pip_requirements>

dialogflow_task_executive/requirements.txt.indigo

@@ -15,6 +15,7 @@ google-api-core==1.12.0
 google-auth==1.6.3
 google-auth-httplib2==0.0.3
 googleapis-common-protos==1.6.0
+grpcio==1.24.0
 httplib2==0.14.0
 idna==2.6
 protobuf==3.12.2

dialogflow_task_executive/test/test_rospy_node.py

@@ -0,0 +1,37 @@
+#!/usr/bin/env python
+
+import rospy
+import os, sys, unittest, rostest
+
+# https://stackoverflow.com/questions/10971033/backporting-python-3-openencoding-utf-8-to-python-2
+if sys.version_info[0] > 2:
+    # py3k
+    pass
+else:
+    # py2
+    import __builtin__
+    def open(filename, encoding=None):
+        return __builtin__.open(filename)
+
+pkg_dir = os.path.abspath(os.path.join(os.path.realpath(__file__), os.pardir, os.pardir))
+pkg_name = os.path.basename(pkg_dir)
+
+class TestRospyNode(unittest.TestCase):
+
+    def __init__(self, *args):
+        unittest.TestCase.__init__(self, *args)
+
+    def test_rosnode(self):
+        __name__ = 'dummy'
+        for scripts_dir in ['scripts', 'node_scripts']:
+            full_scripts_dir = os.path.join(pkg_dir, scripts_dir)
+            if not os.path.exists(full_scripts_dir):
+                continue
+            for filename in [f for f in map(lambda x: os.path.join(full_scripts_dir, x), os.listdir(full_scripts_dir)) if os.path.isfile(f) and f.endswith('.py')]:
+                print("Check if {} is loadable".format(filename))
+                # https://stackoverflow.com/questions/4484872/why-doesnt-exec-work-in-a-function-with-a-subfunction
+                exec(open(filename, encoding='utf-8').read()) in globals(), locals()
+                self.assertTrue(True)
+
+if __name__ == '__main__':
+    rostest.rosrun('test_rospy_node', pkg_name, TestRospyNode, sys.argv)

dialogflow_task_executive/test/test_rospy_node.test

@@ -0,0 +1,3 @@
+<launch>
+  <test pkg="dialogflow_task_executive" type="test_rospy_node.py" test-name="ros_rospy_node" />
+</launch>

google_chat_ros/CMakeLists.txt

@@ -41,15 +41,14 @@ catkin_generate_virtualenv(
 # euslisp
 file(GLOB EUSLISP_SCRIPTS scripts/*.l)
 install(FILES ${EUSLISP_SCRIPTS}
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-  )
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts/)
 
 # python
-file(GLOB PYTHON_SCRIPTS scripts/*.py)
+file(GLOB PYTHON_SCRIPT_FILES scripts/*.py  test/*.py)
 catkin_install_python(
-  PROGRAMS ${PYTHON_SCRIPTS}
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-  )
+  PROGRAMS ${PYTHON_SCRIPT_FILES}
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
 # python requirements
 install(FILES requirements.txt
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
@@ -70,4 +69,7 @@ if(CATKIN_ENABLE_TESTING)
   add_rostest(test/import.test
     DEPENDENCIES ${PROJECT_NAME}_generate_virtualenv
     )
+  add_rostest(test/test_rospy_node.test
+    DEPENDENCIES ${PROJECT_NAME}_generate_virtualenv
+  )
 endif()

google_chat_ros/test/test_rospy_node.py

@@ -0,0 +1,40 @@
+#!/usr/bin/env python
+
+import rospy
+import os, sys, unittest, rostest
+
+# https://stackoverflow.com/questions/10971033/backporting-python-3-openencoding-utf-8-to-python-2
+if sys.version_info[0] > 2:
+    # py3k
+    pass
+else:
+    # py2
+    import __builtin__
+    def open(filename, encoding=None):
+        return __builtin__.open(filename)
+
+pkg_dir = os.path.abspath(os.path.join(os.path.realpath(__file__), os.pardir, os.pardir))
+pkg_name = os.path.basename(pkg_dir)
+
+class TestRospyNode(unittest.TestCase):
+
+    def __init__(self, *args):
+        unittest.TestCase.__init__(self, *args)
+
+    def test_rosnode(self):
+        __name__ = 'dummy'
+        for scripts_dir in ['scripts', 'node_scripts']:
+            full_scripts_dir = os.path.join(pkg_dir, scripts_dir)
+            if not os.path.exists(full_scripts_dir):
+                continue
+            for filename in [f for f in map(lambda x: os.path.join(full_scripts_dir, x), os.listdir(full_scripts_dir)) if os.path.isfile(f) and f.endswith('.py')]:
+                if filename.endswith('/helper.py'):
+                    print("{} depends on dialogflow_task_executive. However, when we add this to the <depend> of package.xml, it appempts to build venv using 'dialogflow_task_executive/requirements.txt'. This requires having the same PYTHON_INTERPRETER for both dialogflow and chat ros package. The issue is that dialogflow_task_executive heavily relies on system Python modules, including ROS, making it difficult to use dialogflow with Python3 on Melodic".format(filename))
+                    continue
+                print("Check if {} is loadable".format(filename))
+                # https://stackoverflow.com/questions/4484872/why-doesnt-exec-work-in-a-function-with-a-subfunction
+                exec(open(filename, encoding='utf-8').read()) in globals(), locals()
+                self.assertTrue(True)
+
+if __name__ == '__main__':
+    rostest.rosrun('test_rospy_node', pkg_name, TestRospyNode, sys.argv)

google_chat_ros/test/test_rospy_node.test

@@ -0,0 +1,3 @@
+<launch>
+  <test pkg="google_chat_ros" type="test_rospy_node.py" test-name="ros_rospy_node" />
+</launch>

julius_ros/test/julius.test

@@ -15,7 +15,7 @@
   <node name="rosbag_play" pkg="rosbag" type="play"
         args="--delay 10 $(find julius_ros)/test/wave.bag" />
 
-  <test test-name="test_julius" pkg="julius_ros" type="test_julius.py" >
+  <test test-name="test_julius" pkg="julius_ros" type="test_julius.py" time-limit="60" >
     <rosparam subst_value="true">
       dnn: $(arg dnn)
     </rosparam>

nfc_ros/CMakeLists.txt

@@ -27,12 +27,19 @@ catkin_generate_virtualenv(
     PYTHON_INTERPRETER python3
     CHECK_VENV FALSE
 )
-catkin_install_python(PROGRAMS
-  node_scripts/nfc_ros_node.py
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+file(GLOB PYTHON_SCRIPT_FILES node_scripts/*.py test/*.py)
+catkin_install_python(
+  PROGRAMS ${PYTHON_SCRIPT_FILES}
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
 install(FILES requirements.txt
     DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+  add_rostest(test/test_rospy_node.test
+    DEPENDENCIES ${PROJECT_NAME}_generate_virtualenv
+  )
+endif()
 endif()

nfc_ros/test/test_rospy_node.py

@@ -0,0 +1,37 @@
+#!/usr/bin/env python
+
+import rospy
+import os, sys, unittest, rostest
+
+# https://stackoverflow.com/questions/10971033/backporting-python-3-openencoding-utf-8-to-python-2
+if sys.version_info[0] > 2:
+    # py3k
+    pass
+else:
+    # py2
+    import __builtin__
+    def open(filename, encoding=None):
+        return __builtin__.open(filename)
+
+pkg_dir = os.path.abspath(os.path.join(os.path.realpath(__file__), os.pardir, os.pardir))
+pkg_name = os.path.basename(pkg_dir)
+
+class TestRospyNode(unittest.TestCase):
+
+    def __init__(self, *args):
+        unittest.TestCase.__init__(self, *args)
+
+    def test_rosnode(self):
+        __name__ = 'dummy'
+        for scripts_dir in ['scripts', 'node_scripts']:
+            full_scripts_dir = os.path.join(pkg_dir, scripts_dir)
+            if not os.path.exists(full_scripts_dir):
+                continue
+            for filename in [f for f in map(lambda x: os.path.join(full_scripts_dir, x), os.listdir(full_scripts_dir)) if os.path.isfile(f) and f.endswith('.py')]:
+                print("Check if {} is loadable".format(filename))
+                # https://stackoverflow.com/questions/4484872/why-doesnt-exec-work-in-a-function-with-a-subfunction
+                exec(open(filename, encoding='utf-8').read()) in globals(), locals()
+                self.assertTrue(True)
+
+if __name__ == '__main__':
+    rostest.rosrun('test_rospy_node', pkg_name, TestRospyNode, sys.argv)

nfc_ros/test/test_rospy_node.test

@@ -0,0 +1,3 @@
+<launch>
+  <test pkg="nfc_ros" type="test_rospy_node.py" test-name="ros_rospy_node" />
+</launch>

respeaker_ros/CMakeLists.txt

@@ -6,6 +6,8 @@ find_package(catkin REQUIRED COMPONENTS
   dynamic_reconfigure
 )
 
+catkin_python_setup()
+
 generate_dynamic_reconfigure_options(
   cfg/Respeaker.cfg
 )
@@ -15,10 +17,12 @@ catkin_package()
 if($ENV{ROS_DISTRO} STRGREATER "melodic")
   catkin_generate_virtualenv(
     PYTHON_INTERPRETER python3
+    CHECK_VENV FALSE
     )
 else()
   catkin_generate_virtualenv(
     PYTHON_INTERPRETER python2
+    CHECK_VENV FALSE
     )
 endif()
 
@@ -29,13 +33,16 @@ install(FILES requirements.txt
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 
-file(GLOB PYTHON_SCRIPTS scripts/*.py)
-catkin_install_python(PROGRAMS ${PYTHON_SCRIPTS}
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts/)
+file(GLOB PYTHON_SCRIPT_FILES scripts/*.py test/*.py)
+catkin_install_python(PROGRAMS ${PYTHON_SCRIPT_FILES}
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
 if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
   add_rostest(test/sample_respeaker.test
     DEPENDENCIES ${PROJECT_NAME}_generate_virtualenv
   )
+  add_rostest(test/test_rospy_node.test
+    DEPENDENCIES ${PROJECT_NAME}_generate_virtualenv
+  )
 endif()

respeaker_ros/package.xml

@@ -21,10 +21,8 @@
   <exec_depend>tf</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</exec_depend>
-  <exec_depend>python-pixel-ring-pip</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-pyaudio</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-pyaudio</exec_depend>
-  <exec_depend>python-pyusb-pip</exec_depend>
 
   <test_depend>jsk_tools</test_depend>
 

respeaker_ros/requirements.txt

@@ -1 +1,5 @@
 SpeechRecognition==3.8.1
+# see https://github.com/jsk-ros-pkg/jsk_robot/pull/1797
+pyusb==1.1.1
+spidev==3.5  # pixel-ring requires spidev and spidev >=3.6 requires setuptools>=61.0. same as https://github.com/jsk-ros-pkg/jsk_robot/pull/1794
+pixel-ring==0.1.0

respeaker_ros/scripts/respeaker_gencfg.py

@@ -4,7 +4,7 @@
 
 import os
 import sys
-from respeaker_node import PARAMETERS, RespeakerInterface
+from respeaker_ros import PARAMETERS, RespeakerInterface
 
 
 def main(out):