Source code for soccer_trajectories.test_trajectory

import os

os.environ["ROS_NAMESPACE"] = "/robot1"

import pytest
import rospy

from soccer_common.utils_rosparam import set_rosparam_from_yaml_file
from soccer_msgs.msg import FixedTrajectoryCommand
from soccer_trajectories.soccer_trajectories import Trajectory, TrajectoryManager


class TestTrajectory:
    def run_real_trajectory(self, robot_model: str, trajectory_name: str, real_time: bool):
        rospy.init_node("test")
        os.system(
            "/bin/bash -c 'source /opt/ros/noetic/setup.bash && rosnode kill /robot1/soccer_strategy "
            "/robot1/soccer_pycontrol /robot1/soccer_trajectories'"
        )

        file_path = os.path.dirname(os.path.abspath(__file__))
        config_path = f"{file_path}/../../../{robot_model}_description/config/motor_mapping.yaml"
        set_rosparam_from_yaml_file(param_path=config_path)
        rospy.set_param("robot_model", robot_model)
        # if "DISPLAY" not in os.environ:
        #     Trajectory.RATE = 10000
        c = TrajectoryManager()
        rospy.init_node("test")
        msg = FixedTrajectoryCommand()
        msg.trajectory_name = trajectory_name
        msg.mirror = False
        c.command_callback(command=msg)
        c.trajectory.run(real_time=real_time)

    @pytest.mark.parametrize("robot_model", ["bez2"])
    @pytest.mark.parametrize("trajectory_name", ["fix_angle_test"])
    @pytest.mark.parametrize("real_time", [True])
    def test_fixed_angles_trajectories(self, robot_model: str, trajectory_name: str, real_time: bool):
        self.run_real_trajectory(robot_model, trajectory_name, real_time)

    @pytest.mark.parametrize("robot_model", ["bez2"])
    @pytest.mark.parametrize("trajectory_name", ["rightkick_2"])
    @pytest.mark.parametrize("real_time", [True])
    def test_getupfront_trajectories(self, robot_model: str, trajectory_name: str, real_time: bool):
        self.run_real_trajectory(robot_model, trajectory_name, real_time)

    @pytest.mark.parametrize("robot_model", ["bez2"])
    @pytest.mark.parametrize("trajectory_name", ["fix_angle_test"])
    @pytest.mark.parametrize("real_time", [True])
    def test_all_trajectories(self, robot_model: str, trajectory_name: str, real_time: bool):
        self.run_real_trajectory(robot_model, trajectory_name, real_time)