From d6a3c9091186626285b2ac43279dcd73d005be8f Mon Sep 17 00:00:00 2001
From: Adam Heins <mail@adamheins.com>
Date: Tue, 27 Feb 2024 11:47:20 -0500
Subject: [PATCH] Add external packages for additional tests.

---
 .gitmodules                                   |  6 ++++
 README.md                                     | 14 ++++-----
 pytest.ini                                    |  2 ++
 .../Universal_Robots_ROS2_Description         |  1 +
 tests/packages/iit-walkman-ros-pkg            |  1 +
 tests/test_extra_packages.py                  | 31 +++++++++++++++++++
 tests/test_xacrodoc.py                        | 16 +++++-----
 7 files changed, 56 insertions(+), 15 deletions(-)
 create mode 100644 .gitmodules
 create mode 100644 pytest.ini
 create mode 160000 tests/packages/Universal_Robots_ROS2_Description
 create mode 160000 tests/packages/iit-walkman-ros-pkg
 create mode 100644 tests/test_extra_packages.py

diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..00ebcd7
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,6 @@
+[submodule "tests/packages/iit-walkman-ros-pkg"]
+	path = tests/packages/iit-walkman-ros-pkg
+	url = https://github.com/ADVRHumanoids/iit-walkman-ros-pkg.git
+[submodule "tests/packages/Universal_Robots_ROS2_Description"]
+	path = tests/packages/Universal_Robots_ROS2_Description
+	url = https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git
diff --git a/README.md b/README.md
index 6b84182..166e89a 100644
--- a/README.md
+++ b/README.md
@@ -141,19 +141,19 @@ supported by other non-ROS tools. xacrodoc automatically expands these
 paths out to full absolute paths, but this can be disabled by passing
 `resolve_packages=False` to the `Xacrodoc` constructor.
 
-## Development
+## Testing
 
-Tests use `pytest`. Ensure that the catkin workspace's setup file has been
-sourced to make the package available, then do:
+Tests use `pytest`. Some tests depend on additional submodules, which you can
+clone using:
+```
+git submodule update --init --recursive
+```
+Then do:
 ```
 cd tests
 pytest .
 ```
 
-For local testing, the project needs to be built as a ROS package in a catkin
-workspace, which uses the `setup.py` file. For building and publishing to
-PyPI, we use `poetry` and the configuration in `pyproject.toml`.
-
 ## License
 
 [MIT](https://github.com/adamheins/xacrodoc/blob/main/LICENSE)
diff --git a/pytest.ini b/pytest.ini
new file mode 100644
index 0000000..563ef7b
--- /dev/null
+++ b/pytest.ini
@@ -0,0 +1,2 @@
+[pytest]
+norecursedirs = tests/packages
diff --git a/tests/packages/Universal_Robots_ROS2_Description b/tests/packages/Universal_Robots_ROS2_Description
new file mode 160000
index 0000000..707b369
--- /dev/null
+++ b/tests/packages/Universal_Robots_ROS2_Description
@@ -0,0 +1 @@
+Subproject commit 707b36948d55be81a1d36f099cb4055ea9e27b67
diff --git a/tests/packages/iit-walkman-ros-pkg b/tests/packages/iit-walkman-ros-pkg
new file mode 160000
index 0000000..d38fe56
--- /dev/null
+++ b/tests/packages/iit-walkman-ros-pkg
@@ -0,0 +1 @@
+Subproject commit d38fe56a844f80f699afac583faf17df5e1d5d97
diff --git a/tests/test_extra_packages.py b/tests/test_extra_packages.py
new file mode 100644
index 0000000..34acc00
--- /dev/null
+++ b/tests/test_extra_packages.py
@@ -0,0 +1,31 @@
+"""Test compiling xacro files from third-party repositories."""
+from pathlib import Path
+
+import pytest
+
+from xacrodoc import XacroDoc
+
+
+def test_walkman():
+    # walkman is an old package and therefore contains a manifest.xml instead
+    # of package.xml
+    walkman_pkg_path = Path("packages/iit-walkman-ros-pkg/walkman_urdf")
+    if not walkman_pkg_path.exists():
+        pytest.skip(
+            "Submodule iit-walkman-ros-pkg does not appear to be cloned."
+        )
+    doc = XacroDoc.from_file(walkman_pkg_path / "urdf/walkman_robot.urdf.xacro")
+
+
+def test_ur():
+    # this is a recent packages that makes heavy use of substitutions and other
+    # modern xacro features
+    ur_urdf_path = Path("packages/Universal_Robots_ROS2_Description/urdf")
+    if not ur_urdf_path.exists():
+        pytest.skip(
+            "Submodule Universal_Robots_ROS2_Description does not appear to be cloned."
+        )
+    doc = XacroDoc.from_file(
+        ur_urdf_path / "ur.urdf.xacro",
+        subargs={"ur_type": "ur10", "name": "ur"},
+    )
diff --git a/tests/test_xacrodoc.py b/tests/test_xacrodoc.py
index f1929a1..33025aa 100644
--- a/tests/test_xacrodoc.py
+++ b/tests/test_xacrodoc.py
@@ -5,14 +5,14 @@
 from xacrodoc import XacroDoc, packages
 
 
-def setup_function():
-    packages.walk_up_from(__file__)
-
-
-def teardown_function():
-    # packages is global state, so we reset it for each test
-    packages.reset()
-
+# def setup_function():
+#     packages.walk_up_from(__file__)
+#
+#
+# def teardown_function():
+#     # packages is global state, so we reset it for each test
+#     packages.reset()
+#
 
 def test_from_file():
     doc = XacroDoc.from_file("files/threelink.urdf.xacro")