[ros2param] Provide tests for ros2param verbs

ros2param/package.xml

@@ -21,6 +21,7 @@
   <test_depend>ament_pep257</test_depend>
   <test_depend>ament_xmllint</test_depend>
   <test_depend>python3-pytest</test_depend>
+  <test_depend>ros_testing</test_depend>
 
   <export>
     <build_type>ament_python</build_type>

ros2param/test/param_node.py

@@ -0,0 +1,79 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+import sys
+
+from rcl_interfaces.msg import ParameterDescriptor
+import rclpy
+from rclpy.node import Node
+
+
+class ParamNode(Node):
+
+    @staticmethod
+    def get_node_parameters():
+        return {
+            'bool_param': True,
+            'int_param': 42,
+            'double_param': 1.23,
+            'str_param': 'Hello World',
+            'int_array': [1, 2, 3],
+            'double_array': [1.0, 2.0, 3.0],
+            'bool_array': [True, False, True],
+            'str_array': ['Hello', 'World'],
+            'byte_array': [b'p', b'v'],
+            'parameter_with_no_value': None
+        }
+
+    @staticmethod
+    def get_modified_parameters():
+        return {
+            'bool_param': False,
+            'int_param': 43,
+            'double_param': 1.20,
+            'str_param': 'Hello World',
+            'int_array': [4, 5, 6],
+            'double_array': [4.0, 5.0, 6.0],
+            'bool_array': [False, True, False],
+            'str_array': ['World', 'Hello'],
+            'byte_array': [b'v', b'p'],
+            'parameter_with_no_value': None
+        }
+
+    def __init__(self):
+        super().__init__('param_node')
+        parameters = ParamNode.get_node_parameters()
+        for param_key, param_value in parameters.items():
+            self.declare_parameter(param_key, param_value, ParameterDescriptor())
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    node = ParamNode()
+
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        print('node stopped cleanly')
+    except BaseException:
+        print('exception in node:', file=sys.stderr)
+        raise
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()