init: ROS2 learning suite

src/py_srv/test/test_srv.py

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+"""py_srv 单元测试:同进程 spin + 验证 Service 通信。"""
+
+import time
+
+import rclpy
+import pytest
+
+from py_srv.add_two_ints_server import AddTwoIntsServer
+from py_srv.add_two_ints_client import AddTwoIntsClient
+from example_interfaces.srv import AddTwoInts
+
+
+@pytest.fixture(scope='module')
+def ros_context():
+    rclpy.init()
+    yield
+    rclpy.shutdown()
+
+
+def test_service_inproc_roundtrip(ros_context):
+    """同进程内 server + client 互调,验证 a + b == sum。"""
+    server = AddTwoIntsServer()
+    client = AddTwoIntsClient()
+
+    exec_ = rclpy.executors.SingleThreadedExecutor()
+    exec_.add_node(server)
+    exec_.add_node(client)
+
+    req = AddTwoInts.Request()
+    req.a = 7
+    req.b = 35
+
+    future = client.client.call_async(req)
+    end = time.time() + 3.0
+    while not future.done() and time.time() < end:
+        exec_.spin_once(timeout_sec=0.05)
+
+    assert future.done(), 'service call did not complete in 3s'
+    assert future.result() is not None
+    assert future.result().sum == 42
+
+    exec_.remove_node(server)
+    exec_.remove_node(client)