Test whether the driver advertises all ROS2 interfaces

schunk_egu_egk_gripper_driver/launch/schunk.launch.py

@@ -49,7 +49,7 @@ def generate_launch_description():
                 package="schunk_egu_egk_gripper_driver",
                 plugin="SchunkGripperNode",
                 name="schunk_gripper_driver",
-                namespace="EGK_50_M_B",
+                namespace="",
                 parameters=[
                     {"IP": LaunchConfiguration("IP")},
                     {"port": LaunchConfiguration("port")},

schunk_egu_egk_gripper_tests/test/test_http_interface.py

@@ -26,4 +26,4 @@ def test_driver_connnects_to_gripper_dummy(launch_context, isolated, gripper_dum
     timeout = 3
 
     time.sleep(until_dummy_ready)
-    assert CheckTopic("/EGK_50_M_B/joint_states", JointState).event.wait(timeout)
+    assert CheckTopic("/joint_states", JointState).event.wait(timeout)

schunk_egu_egk_gripper_tests/test/test_ros_interfaces.py

@@ -0,0 +1,59 @@
+#!/usr/bin/env python3
+import pytest
+from rclpy.node import Node
+import time
+from test.conftest import launch_description
+
+
+def check_each_in(elements: list, node_method: str) -> None:
+    node = Node("test")
+    until_ready = 2.0  # sec
+    time.sleep(until_ready)
+    existing = getattr(node, node_method)()
+    advertised = [i[0] for i in existing]
+    for element in elements:
+        assert element in advertised
+
+
+@pytest.mark.launch(fixture=launch_description)
+def test_driver_advertices_all_relevant_topics(launch_context, isolated, gripper_dummy):
+    topic_list = [
+        "/diagnostics",
+        "/joint_states",
+        "/state",
+    ]
+    check_each_in(topic_list, "get_topic_names_and_types")
+
+
+@pytest.mark.launch(fixture=launch_description)
+def test_driver_advertices_all_relevant_services(
+    launch_context, isolated, gripper_dummy
+):
+    service_list = [
+        "/acknowledge",
+        "/brake_test",
+        "/fast_stop",
+        "/gripper_info",
+        "/prepare_for_shutdown",
+        "/reconnect",
+        "/release_for_manual_movement",
+        "/softreset",
+        "/stop",
+    ]
+    check_each_in(service_list, "get_service_names_and_types")
+
+
+@pytest.mark.launch(fixture=launch_description)
+def test_driver_advertices_all_relevant_actions(
+    launch_context, isolated, gripper_dummy
+):
+    action_list = [
+        "/grip",
+        "/grip_with_position",
+        "/gripper_control",
+        "/move_to_absolute_position",
+        "/move_to_relative_position",
+        "/release_workpiece",
+    ]
+    action_list = [a + "/_action/status" for a in action_list]
+    check_each_in(action_list, "get_topic_names_and_types")