test_nodes: catch keyboard interrupt and add simple launch tests

[christophfroehlich]

When the test nodes are shut down by ctrl-c keyboard interrupt we see this verbose console output

    [publisher_forward_position_controller-15] Traceback (most recent call last):
    [publisher_forward_position_controller-15]   File "/home/runner/work/ros2_control_demos/ros2_control_demos/.work/upstream_ws/install/ros2_controllers_test_nodes/lib/ros2_controllers_test_nodes/publisher_forward_position_controller", line 33, in <module>
    [publisher_forward_position_controller-15]     sys.exit(load_entry_point('ros2-controllers-test-nodes==3.28.0', 'console_scripts', 'publisher_forward_position_controller')())
    [publisher_forward_position_controller-15]   File "/home/runner/work/ros2_control_demos/ros2_control_demos/.work/upstream_ws/install/ros2_controllers_test_nodes/lib/python3.10/site-packages/ros2_controllers_test_nodes/publisher_forward_position_controller.py", line 71, in main
    [publisher_forward_position_controller-15]     rclpy.spin(publisher_forward_position)
    [publisher_forward_position_controller-15]   File "/opt/ros/iron/lib/python3.10/site-packages/rclpy/__init__.py", line 228, in spin
    [publisher_forward_position_controller-15]     executor.spin_once()
    [publisher_forward_position_controller-15]   File "/opt/ros/iron/lib/python3.10/site-packages/rclpy/executors.py", line 787, in spin_once
    [publisher_forward_position_controller-15]     self._spin_once_impl(timeout_sec)
    [publisher_forward_position_controller-15]   File "/opt/ros/iron/lib/python3.10/site-packages/rclpy/executors.py", line 776, in _spin_once_impl
    [publisher_forward_position_controller-15]     handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec)
    [publisher_forward_position_controller-15]   File "/opt/ros/iron/lib/python3.10/site-packages/rclpy/executors.py", line 762, in wait_for_ready_callbacks
    [publisher_forward_position_controller-15]     return next(self._cb_iter)
    [publisher_forward_position_controller-15]   File "/opt/ros/iron/lib/python3.10/site-packages/rclpy/executors.py", line 666, in _wait_for_ready_callbacks
    [publisher_forward_position_controller-15]     wait_set.wait(timeout_nsec)
    [publisher_forward_position_controller-15] KeyboardInterrupt

With the proposed changes, we get a nice

 $ ros2 run ros2_controllers_test_nodes publisher_forward_position_controller --ros-args --params-file src/ros2_control_demos/example_1/bringup/config/rrbot_forward_position_publisher.yaml 
[INFO] [1731859611.015984561] [publisher_forward_position_controller]: Publishing 4 goals on topic '/forward_position_controller/commands' every 5 s'
[INFO] [1731859616.018749700] [publisher_forward_position_controller]: Publishing: "array('d', [0.785, 0.785])"
^CKeyboard interrupt received. Shutting down node.

[codecov]

Codecov Report

Attention: Patch coverage is 90.56604% with 10 lines in your changes missing coverage. Please review.

Project coverage is 82.57%. Comparing base (28dd7e1) to head (b0cbe8e).
Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
...est_nodes/publisher_forward_position_controller.py	44.44%	4 Missing and 1 partial ⚠️
...est_nodes/publisher_joint_trajectory_controller.py	44.44%	4 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1369      +/-   ##
==========================================
+ Coverage   81.47%   82.57%   +1.09%     
==========================================
  Files         110      112       +2     
  Lines        9823     9920      +97     
  Branches      860      867       +7     
==========================================
+ Hits         8003     8191     +188     
+ Misses       1541     1438     -103     
- Partials      279      291      +12     

Flag	Coverage Δ
unittests	82.57% <90.56%> (+1.09%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
ros2_controllers_test_nodes/setup.py	0.00% <ø> (ø)
...st_publisher_forward_position_controller_launch.py	100.00% <100.00%> (ø)
...st_publisher_joint_trajectory_controller_launch.py	100.00% <100.00%> (ø)
...est_nodes/publisher_forward_position_controller.py	80.00% <44.44%> (+80.00%)	⬆️
...est_nodes/publisher_joint_trajectory_controller.py	57.52% <44.44%> (+57.52%)	⬆️

... and 3 files with indirect coverage changes

[saikishor]

LGTM

[saikishor]

LGTM

[christophfroehlich]

I'm a little bit puzzled about the fact that the code in the finally branch has zero coverage. maybe rlcpy.ok() is always false here. Should the destroy_node() be called even if the context is not valid any more? @saikishor any idea?