Add urdftest to ros2 control

[gwalck]

Added a test ensuring the TCP (tool0) is resolved correctly using TF. If a URDF is mal-formed (example mismatch of joint_names between base robot and ros2_control), the joint_state would be wrong and the Robot State Publisher would then not be capable of creating all TF.

This addition was tricky as tf listener in python is known to have some issues with spinning its thread see 1, 2

[destogl]

I get this error when testing this:

<testsuite name="kuka_ros2_control_support.ros2_control_support.launch_tests[description_package=kuka_kr10_support description_macro_file=kr10r1100sixx_macro.xacro controllers_file=kuka_6dof_controllers.yaml initial_positions_file=initial_positions.yaml]" tests="5" failures="0" errors="1" skipped="0" time="4.117"><testcase classname="kuka_ros2_control_support.RobotDriverTest" name="test_joint_state_msg_retrieval[description_package=kuka_kr10_support description_macro_file=kr10r1100sixx_macro.xacro controllers_file=kuka_6dof_controllers.yaml initial_positions_file=initial_positions.yaml]" time="1.006" /><testcase classname="kuka_ros2_control_support.RobotDriverTest" name="test_node_started[description_package=kuka_kr10_support description_macro_file=kr10r1100sixx_macro.xacro controllers_file=kuka_6dof_controllers.yaml initial_positions_file=initial_positions.yaml]" time="0.002" /><testcase classname="kuka_ros2_control_support.RobotDriverTest" name="test_tcp_tf[description_package=kuka_kr10_support description_macro_file=kr10r1100sixx_macro.xacro controllers_file=kuka_6dof_controllers.yaml initial_positions_file=initial_positions.yaml]" time="0.065" /><testcase classname="kuka_ros2_control_support.RobotDriverTest" name="test_trajectory_following[description_package=kuka_kr10_support description_macro_file=kr10r1100sixx_macro.xacro controllers_file=kuka_6dof_controllers.yaml initial_positions_file=initial_positions.yaml]" time="3.001"><error message="Traceback (most recent call last):&#10;  File &quot;/home/deniss/workspace/ros_industrial/kuka_robots_tests/src/kuka_experimental/kuka_ros2_control_support/test/ros2_control_support.py&quot;, line 288, in test_trajectory_following&#10;    joint_states = get_joint_states_from_trajectory_state()&#10;  File &quot;/home/deniss/workspace/ros_industrial/kuka_robots_tests/src/kuka_experimental/kuka_ros2_control_support/test/ros2_control_support.py&quot;, line 285, in get_joint_states_from_trajectory_state&#10;    return dict(zip(msg.joint_names, msg.actual.positions))&#10;AttributeError: 'NoneType' object has no attribute 'joint_names'&#10;" /></testcase><testcase classname="kuka_ros2_control_support.RobotDriverTest" name="test_trajectory_state_retrieval[description_package=kuka_kr10_support description_macro_file=kr10r1100sixx_macro.xacro controllers_file=kuka_6dof_controllers.yaml initial_positions_file=initial_positions.yaml]" time="0.042" /></testsuite><testsuite name="kuka_ros2_control_support.ros2_control_support.launch_tests[description_package=kuka_kr10_support description_macro_file=kr10r1420_macro.xacro controllers_file=kuka_6dof_controllers.yaml initial_positions_file=initial_positions.yaml]" tests="5" failures="0" errors="0" skipped="0" time="3.268"><testcase classname="kuka_ros2_control_support.RobotDriverTest" name="test_joint_state_msg_retrieval[description_package=kuka_kr10_support description_macro_file=kr10r1420_macro.xacro controllers_file=kuka_6dof_controllers.yaml initial_positions_file=initial_positions.yaml]" time="0.596" /><testcase classname="kuka_ros2_control_support.RobotDriverTest" name="test_node_started[description_package=kuka_kr10_support description_macro_file=kr10r1420_macro.xacro controllers_file=kuka_6dof_controllers.yaml initial_positions_file=initial_positions.yaml]" time="0.002" />

It seems there is still some NoneType issue or for the given robot type the setup is not correct.

kuka_robots_tests/src/kuka_experimental/kuka_ros2_control_support/test/ros2_control_support.py", line 285, in get_joint_states_from_trajectory_state return dict(zip(msg.joint_names, msg.actual.positions)) AttributeError: 'NoneType' object has no attribute 'joint_names' " />

[gwalck]

That is annoying. I spend hours already on that, and thought I had solved it. This problem occurs when some message is not received properly by rclpy low-level middleware stuff. I think we are facing some non-atomic operations or so, due to threading.
I cannot explaning otherwise, because without the threading of tf_listener this test never fails, and what I added should not alter the other tests. A solution to the problem would be to create a second pytest file independent of the other one (not as a subtest of a single pytest file)

[gwalck]

I cannot reproduce this on my side, but noticed there was a missing line (as compared to typical way executors are used and how the tf_listener test is done upstream ) so could you retry again ?