From 17b1c8d1b1026b88f3276134e894075d86e4bc98 Mon Sep 17 00:00:00 2001
From: Felix Exner <exner@fzi.de>
Date: Mon, 15 Apr 2024 13:05:16 +0200
Subject: [PATCH] Add tests

---
 ur_simulation_gz/CMakeLists.txt                  | 5 +++++
 ur_simulation_gz/launch/ur_sim_control.launch.py | 3 ++-
 ur_simulation_gz/package.xml                     | 4 ++++
 3 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/ur_simulation_gz/CMakeLists.txt b/ur_simulation_gz/CMakeLists.txt
index 48d5f6c..b547e1c 100644
--- a/ur_simulation_gz/CMakeLists.txt
+++ b/ur_simulation_gz/CMakeLists.txt
@@ -8,8 +8,13 @@ install(DIRECTORY config launch urdf
 )
 
 if(BUILD_TESTING)
+  find_package(launch_testing_ament_cmake)
   find_package(ament_cmake_pytest REQUIRED)
 
+  add_launch_test(test/test_gz.py
+    TIMEOUT
+      180
+  )
   ament_add_pytest_test(description test/test_description.py)
 endif()
 
diff --git a/ur_simulation_gz/launch/ur_sim_control.launch.py b/ur_simulation_gz/launch/ur_sim_control.launch.py
index 8adb070..bc681e3 100644
--- a/ur_simulation_gz/launch/ur_sim_control.launch.py
+++ b/ur_simulation_gz/launch/ur_sim_control.launch.py
@@ -171,7 +171,8 @@ def launch_setup(context, *args, **kwargs):
         launch_arguments={
             "gz_args": IfElseSubstitution(
                 gazebo_gui, if_value=" -r -v 4 empty.sdf", else_value=" -s -r -v 4 empty.sdf"
-            )
+            ),
+            "on_exit_shutdown": "true",
         }.items(),
     )
 
diff --git a/ur_simulation_gz/package.xml b/ur_simulation_gz/package.xml
index bf2e3c0..139e8b9 100644
--- a/ur_simulation_gz/package.xml
+++ b/ur_simulation_gz/package.xml
@@ -28,6 +28,10 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_testing_ros</test_depend>
+  <test_depend>liburdfdom-tools</test_depend>
+  <test_depend>xacro</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>