fix tests

husarion · Dec 5, 2024 · b01865e · b01865e
1 parent 450e189
commit b01865e
Show file tree

Hide file tree

Showing 5 changed files with 18 additions and 7 deletions.
diff --git a/husarion_ugv_lights/config/user_animations.yaml b/husarion_ugv_lights/config/user_animations.yaml
@@ -4,7 +4,9 @@
 #
 # For more examples and detailed documentation, please visit:
 # https://github.com/husarion/panther_ros/blob/ros2/panther_lights/CONFIGURATION.md#defining-animations
-#
+
+user_animations: []
+
 # Example including a simple custom animation:
 #
 # user_animations:

diff --git a/husarion_ugv_manager/src/lights_manager_node.cpp b/husarion_ugv_manager/src/lights_manager_node.cpp
@@ -22,7 +22,6 @@
 #include <string>
 #include <vector>
 
-#include "ament_index_cpp/get_package_share_directory.hpp"
 #include "behaviortree_ros2/ros_node_params.hpp"
 #include "rclcpp/rclcpp.hpp"
 

diff --git a/husarion_ugv_manager/src/safety_manager_node.cpp b/husarion_ugv_manager/src/safety_manager_node.cpp
@@ -24,7 +24,6 @@
 #include <utility>
 #include <vector>
 
-#include "ament_index_cpp/get_package_share_directory.hpp"
 #include "behaviortree_ros2/ros_node_params.hpp"
 #include "rclcpp/rclcpp.hpp"
 
@@ -138,7 +137,7 @@ std::map<std::string, std::any> SafetyManagerNode::CreateSafetyInitialBlackboard
   const double cpu_fan_off_temp = this->params_.cpu.temp.fan_off;
   const double driver_fan_on_temp = this->params_.driver.temp.fan_on;
   const double driver_fan_off_temp = this->params_.driver.temp.fan_off;
-  const double fan_turn_off_timeout = this->params_.fan_turn_off_timeout;
+  const float fan_turn_off_timeout = static_cast<float>(this->params_.fan_turn_off_timeout);
 
   const std::map<std::string, std::any> safety_initial_bb = {
     {"CPU_FAN_OFF_TEMP", cpu_fan_off_temp},

diff --git a/husarion_ugv_manager/test/test_lights_behavior_tree.cpp b/husarion_ugv_manager/test/test_lights_behavior_tree.cpp
@@ -22,6 +22,7 @@
 
 #include "gtest/gtest.h"
 
+#include "ament_index_cpp/get_package_share_directory.hpp"
 #include "behaviortree_cpp/basic_types.h"
 #include "rclcpp/rclcpp.hpp"
 
@@ -107,18 +108,22 @@ TestLightsBehaviorTree::TestLightsBehaviorTree()
 
 std::vector<rclcpp::Parameter> TestLightsBehaviorTree::CreateTestParameters() const
 {
+  const auto panther_manager_pkg_path =
+    ament_index_cpp::get_package_share_directory("husarion_ugv_manager");
+  const std::string bt_project_path = panther_manager_pkg_path + "/behavior_trees/LightsBT.btproj";
+
   std::vector<std::string> plugin_libs;
   plugin_libs.push_back("tick_after_timeout_bt_node");
 
   std::vector<std::string> ros_plugin_libs;
   ros_plugin_libs.push_back("call_set_led_animation_service_bt_node");
 
   std::vector<rclcpp::Parameter> params;
+  params.push_back(rclcpp::Parameter("bt_project_path", bt_project_path));
   params.push_back(rclcpp::Parameter("plugin_libs", plugin_libs));
   params.push_back(rclcpp::Parameter("ros_plugin_libs", ros_plugin_libs));
-  params.push_back(rclcpp::Parameter("battery.animation_period.low", kLowBatteryAnimPeriod));
-  params.push_back(
-    rclcpp::Parameter("battery.animation_period.critical", kCriticalBatteryAnimPeriod));
+  params.push_back(rclcpp::Parameter("battery.anim_period.low", kLowBatteryAnimPeriod));
+  params.push_back(rclcpp::Parameter("battery.anim_period.critical", kCriticalBatteryAnimPeriod));
 
   return params;
 }

diff --git a/husarion_ugv_manager/test/test_safety_behavior_tree.cpp b/husarion_ugv_manager/test/test_safety_behavior_tree.cpp
@@ -22,6 +22,7 @@
 
 #include "gtest/gtest.h"
 
+#include "ament_index_cpp/get_package_share_directory.hpp"
 #include "behaviortree_cpp/basic_types.h"
 #include "rclcpp/rclcpp.hpp"
 
@@ -126,6 +127,10 @@ TestSafetyBehaviorTree::~TestSafetyBehaviorTree() { rclcpp::shutdown(); }
 
 std::vector<rclcpp::Parameter> TestSafetyBehaviorTree::CreateTestParameters() const
 {
+  const auto panther_manager_pkg_path =
+    ament_index_cpp::get_package_share_directory("husarion_ugv_manager");
+  const std::string bt_project_path = panther_manager_pkg_path + "/behavior_trees/SafetyBT.btproj";
+
   std::vector<std::string> plugin_libs;
   plugin_libs.push_back("tick_after_timeout_bt_node");
   plugin_libs.push_back("shutdown_single_host_bt_node");
@@ -137,6 +142,7 @@ std::vector<rclcpp::Parameter> TestSafetyBehaviorTree::CreateTestParameters() co
   ros_plugin_libs.push_back("call_trigger_service_bt_node");
 
   std::vector<rclcpp::Parameter> params;
+  params.push_back(rclcpp::Parameter("bt_project_path", bt_project_path));
   params.push_back(rclcpp::Parameter("plugin_libs", plugin_libs));
   params.push_back(rclcpp::Parameter("ros_plugin_libs", ros_plugin_libs));
   params.push_back(rclcpp::Parameter("fan_turn_off_timeout", kFanTurnOffTimeout));