Port system tests in nav2_system_tests (ros-navigation#4440)

* wip, ported only test_bt_navigator Signed-off-by: stevedan <[email protected]> * include test_bt_navigator_with dijlstra and test_bt_navigator_2 Signed-off-by: stevedan <[email protected]> * uncomment some lines Signed-off-by: stevedan <[email protected]> * More tests Signed-off-by: stevedan <[email protected]> * Include end of line Signed-off-by: stevedan <[email protected]> * move gz_sim cleanup process to utils nav2_simple_commander Signed-off-by: stevedan <[email protected]> * fix linter Signed-off-by: stevedan <[email protected]> * cleanup Signed-off-by: stevedan <[email protected]> * removed unused path Signed-off-by: stevedan <[email protected]> * cleanup Signed-off-by: stevedan <[email protected]> * more cleanup Signed-off-by: stevedan <[email protected]> * reduce set initial pose time Signed-off-by: stevedan <[email protected]> * remove repeated variable Signed-off-by: stevedan <[email protected]> * Remove log Signed-off-by: stevedan <[email protected]> * Remove todo Signed-off-by: stevedan <[email protected]> * use robot publisher Signed-off-by: stevedan <[email protected]> * use robot publisher Signed-off-by: stevedan <[email protected]> * include copyright Signed-off-by: stevedan <[email protected]> * correct year Signed-off-by: stevedan <[email protected]> --------- Signed-off-by: stevedan <[email protected]> Signed-off-by: Stevedan Ogochukwu Omodolor <[email protected]>
Marc-Morcos · Jul 4, 2024 · b9ec041 · b9ec041
1 parent 2555222
commit b9ec041
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Showing 4 changed files with 8 additions and 555 deletions.
diff --git a/nav2_system_tests/src/localization/test_localization_launch.py b/nav2_system_tests/src/localization/test_localization_launch.py
@@ -27,6 +27,8 @@
 import launch_ros.actions
 from launch_testing.legacy import LaunchTestService
 
+from nav2_simple_commander.utils import kill_os_processes
+
 
 def main(argv=sys.argv[1:]):
     testExecutable = os.getenv('TEST_EXECUTABLE')
@@ -36,6 +38,10 @@ def main(argv=sys.argv[1:]):
     world_sdf_xacro = os.path.join(sim_dir, 'worlds', 'tb3_sandbox.sdf.xacro')
     robot_sdf = os.path.join(sim_dir, 'urdf', 'gz_waffle.sdf.xacro')
 
+    urdf = os.path.join(sim_dir, 'urdf', 'turtlebot3_waffle.urdf')
+    with open(urdf, 'r') as infp:
+        robot_description = infp.read()
+
     urdf = os.path.join(sim_dir, 'urdf', 'turtlebot3_waffle.urdf')
     with open(urdf, 'r') as infp:
         robot_description = infp.read()

diff --git a/nav2_system_tests/src/system/test_system_launch.py b/nav2_system_tests/src/system/test_system_launch.py
@@ -35,6 +35,7 @@
 from launch_testing.legacy import LaunchTestService
 
 from nav2_common.launch import RewrittenYaml
+from nav2_simple_commander.utils import kill_os_processes
 
 
 def generate_launch_description():

diff --git a/nav2_system_tests/src/system/test_wrong_init_pose_launch.py b/nav2_system_tests/src/system/test_wrong_init_pose_launch.py
@@ -34,6 +34,7 @@
 from launch_testing.legacy import LaunchTestService
 
 from nav2_common.launch import RewrittenYaml
+from nav2_simple_commander.utils import kill_os_processes
 
 
 def generate_launch_description():