test_urdf_files.py

Go to the documentation of this file.

#!/usr/bin/env python
# Copyright (c) 2016 The UUV Simulator Authors.
# All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from __future__ import print_function
import rospy
import unittest
import subprocess
import os

PKG = 'uuv_sensor_ros_plugins'
NAME = 'test_urdf_files'

import roslib
roslib.load_manifest(PKG)


def call_xacro(xml_file):
    assert os.path.isfile(xml_file), 'Invalid XML xacro file'
    return subprocess.check_output(['xacro', '--inorder', xml_file])


class TestURDFFiles(unittest.TestCase):
    def test_xacro(self):
        # Retrieve the root folder for the tests
        test_dir = os.path.abspath(os.path.dirname(__file__))
        robots_dir = os.path.join(test_dir, '..', 'urdf')

        for item in os.listdir(robots_dir):
            if not os.path.isfile(os.path.join(robots_dir, item)):
                continue
            output = call_xacro(os.path.join(robots_dir, item))
            self.assertNotIn(
                output, 
                'XML parsing error',
                'Parsing error found for file {}'.format(item))
            self.assertNotIn(
                output, 
                'No such file or directory', 
                'Some file not found in {}'.format(item))

if __name__ == '__main__':
    import rosunit
    rosunit.unitrun(PKG, NAME, TestURDFFiles)