nav2_system_tests: log error_code and error_msg. (ros-navigation#4341)

Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
aosmw · Oct 4, 2024 · f76ec0a · f76ec0a
1 parent 52eecbf
commit f76ec0a
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Showing 2 changed files with 16 additions and 4 deletions.
diff --git a/nav2_system_tests/src/system/nav_through_poses_tester_node.py b/nav2_system_tests/src/system/nav_through_poses_tester_node.py
@@ -116,7 +116,10 @@ def runNavigateAction(self, goal_pose: Optional[Pose] = None):
  rclpy.spin_until_future_complete(self, get_result_future)
  status = get_result_future.result().status
  if status != GoalStatus.STATUS_SUCCEEDED:
- self.info_msg(f'Goal failed with status code: {status}')
+ result = get_result_future.result().result
+ self.info_msg(f'Goal failed with status code: {status}'
+ f' error code:{result.error_code}'
+ f' error msg:{result.error_msg}')
  return False
 
  self.info_msg('Goal succeeded!')
@@ -149,7 +152,10 @@ def runFakeNavigateAction(self):
  rclpy.spin_until_future_complete(self, get_result_future)
  status = get_result_future.result().status
  if status != GoalStatus.STATUS_SUCCEEDED:
- self.info_msg(f'Goal failed with status code: {status}')
+ result = get_result_future.result().result
+ self.info_msg(f'Goal failed with status code: {status}'
+ f' error code:{result.error_code}'
+ f' error msg:{result.error_msg}')
  return False
 
  self.info_msg('Goal succeeded!')
@@ -186,7 +192,10 @@ def runNavigatePreemptionAction(self, block):
  rclpy.spin_until_future_complete(self, get_result_future)
  status = get_result_future.result().status
  if status != GoalStatus.STATUS_SUCCEEDED:
- self.info_msg(f'Goal failed with status code: {status}')
+ result = get_result_future.result().result
+ self.info_msg(f'Goal failed with status code: {status}'
+ f' error code:{result.error_code}'
+ f' error msg:{result.error_msg}')
  return False
 
  self.info_msg('Goal succeeded!')

diff --git a/nav2_system_tests/src/system/nav_to_pose_tester_node.py b/nav2_system_tests/src/system/nav_to_pose_tester_node.py
@@ -118,7 +118,10 @@ def runNavigateAction(self, goal_pose: Optional[Pose] = None):
  rclpy.spin_until_future_complete(self, get_result_future)
  status = get_result_future.result().status
  if status != GoalStatus.STATUS_SUCCEEDED:
- self.info_msg(f'Goal failed with status code: {status}')
+ result = get_result_future.result().result
+ self.info_msg(f'Goal failed with status code: {status}'
+ f' error code:{result.error_code}'
+ f' error msg:{result.error_msg}')
  return False
 
  if not future_return: