Fill out action goal request population tests

rosbridge_library/test/capabilities/test_action_capabilities.py

@@ -202,8 +202,10 @@ def test_execute_advertised_action(self):
         self.assertEqual(self.received_message["op"], "action_result")
         self.assertEqual(self.received_message["values"]["result"]["sequence"], [0, 1, 1, 2, 3, 5])
 
-    @unittest.skip("Currently fails in Iron/Rolling CI, need to fix this")
-    def test_cancel_advertised_action(self):
+        @unittest.skip(
+            reason="Currently fails in Iron/Rolling due to https://github.com/ros2/rclpy/issues/1195, need to fix this"
+        )
+        def test_cancel_advertised_action(self):
         # Advertise the action
         action_path = "/fibonacci_action_3"
         advertise_msg = loads(

rosbridge_library/test/internal/actions/test_actions.py

@@ -12,6 +12,7 @@
 from rosbridge_library.internal import actions
 from rosbridge_library.internal import message_conversion as c
 from rosbridge_library.internal import ros_loader
+from rosbridge_library.internal.message_conversion import FieldTypeMismatchException
 
 
 class ActionTester:
@@ -109,15 +110,34 @@ def msgs_equal(self, msg1, msg2):
 
     def test_populate_goal_args(self):
         # Test empty messages
-        for srv_type in ["TestEmpty", "TestFeedbackAndResult", "TestResultOnly"]:
-            cls = ros_loader.get_action_class("rosbridge_test_msgs/" + srv_type)
+        for action_type in ["TestEmpty", "TestFeedbackAndResult", "TestResultOnly"]:
+            cls = ros_loader.get_action_class("rosbridge_test_msgs/" + action_type)
             for args in [[], {}, None]:
                 # Should throw no exceptions
                 actions.args_to_action_goal_instance("", cls.Goal(), args)
 
-        # TODO: Test actions with data message
-
-        # TODO: Test actions with multiple fields
+        # Test actions with data message
+        for action_type in ["TestGoalOnly", "TestGoalAndResult", "TestGoalFeedbackAndResult"]:
+            cls = ros_loader.get_action_class("rosbridge_test_msgs/" + action_type)
+            for args in [[3], {"data": 3}]:
+                # Should throw no exceptions
+                actions.args_to_action_goal_instance("", cls.Goal(), args)
+            self.assertRaises(
+                FieldTypeMismatchException,
+                actions.args_to_action_goal_instance,
+                "",
+                cls.Goal(),
+                ["hello"],
+            )
+
+        # Test actions with multiple fields
+        cls = ros_loader.get_action_class("rosbridge_test_msgs/TestMultipleGoalFields")
+        for args in [
+            [3, 3.5, "hello", False],
+            {"int_value": 3, "float_value": 3.5, "string": "hello", "bool_value": False},
+        ]:
+            # Should throw no exceptions
+            actions.args_to_action_goal_instance("", cls.Goal(), args)
 
     def test_send_action_goal(self):
         """Test a simple action call"""

rosbridge_test_msgs/CMakeLists.txt

@@ -32,6 +32,10 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   srv/TestResponseOnly.srv
   action/TestEmpty.action
   action/TestFeedbackAndResult.action
+  action/TestGoalAndResult.action
+  action/TestGoalFeedbackAndResult.action
+  action/TestGoalOnly.action
+  action/TestMultipleGoalFields.action
   action/TestResultOnly.action
   DEPENDENCIES builtin_interfaces geometry_msgs std_msgs
 )

rosbridge_test_msgs/action/TestGoalAndResult.action

@@ -0,0 +1,7 @@
+# Goal
+int32 data
+---
+# Empty feedback
+---
+# result
+int32 data

rosbridge_test_msgs/action/TestGoalFeedbackAndResult.action

@@ -0,0 +1,8 @@
+# Goal
+int32 data
+---
+# Feedback
+int32 data
+---
+# result
+int32 data

rosbridge_test_msgs/action/TestGoalOnly.action

@@ -0,0 +1,6 @@
+# Goal
+int32 data
+---
+# Empty feedback
+---
+# Empty result

rosbridge_test_msgs/action/TestMultipleGoalFields.action

@@ -0,0 +1,9 @@
+# Goal
+int32 int_value
+float32 float_value
+string string
+bool bool_value
+---
+# Empty feedback
+---
+# Empty result