Use unit test test cases

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>

.github/workflows/integration-tests.yaml

@@ -35,13 +35,6 @@ jobs:
         if: always()
         run: docker-compose -f ".github/docker/integration-tests/docker-compose.yaml" down
 
-      - name: Upload failed test results
-        uses: actions/upload-artifact@v4
-        if: failure()
-        with:
-          name: test-results
-          path: ros_ws/build/*/test_results/*/*.catch2.xml
-
       - name: Upload coverage to Codecov
         uses: codecov/codecov-action@v4
         with:

.github/workflows/unit-tests.yaml

@@ -22,19 +22,3 @@ jobs:
           ros-distribution: ${{ matrix.ros_distribution }}
           zenoh-version: 1.0.1
           integration-testing: OFF
-
-      - name: Upload failed test results
-        uses: actions/upload-artifact@v4
-        if: failure()
-        with:
-          name: test-results
-          path: ros_ws/build/*/test_results/*/*.catch2.xml
-
-      - name: Upload coverage to Codecov
-        uses: codecov/codecov-action@v4
-        with:
-          files: ros_ws/coveragepy/.coverage
-          flags: tests
-          fail_ci_if_error: true
-        env:
-          CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

free_fleet_adapter/tests/integration/test_nav2_robot_adapter.py

@@ -15,20 +15,30 @@
 # limitations under the License.
 
 import time
+import unittest
 
 from free_fleet_adapter.nav2_robot_adapter import Nav2RobotAdapter
 import rclpy
-from rclpy.node import Node
 from tf2_ros import Buffer
 
 import zenoh
 
 
-def test_robot_does_not_exist():
-    rclpy.init()
-    node = Node('missing_turtlebot3_1_nav2_robot_adapter_node')
-    zenoh.try_init_log_from_env()
-    with zenoh.open(zenoh.Config()) as session:
+class TestNav2RobotAdapter(unittest.TestCase):
+
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+        cls.node = rclpy.create_node('test_nav2_robot_adapter')
+        cls.zenoh_session = zenoh.open(zenoh.Config())
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.node.destroy_node()
+        cls.zenoh_session.close()
+        rclpy.shutdown()
+
+    def test_robot_does_not_exist(self):
         tf_buffer = Buffer()
 
         robot_adapter = Nav2RobotAdapter(
@@ -37,8 +47,8 @@ def test_robot_does_not_exist():
             robot_config_yaml={
                 'initial_map': 'L1',
             },
-            node=node,
-            zenoh_session=session,
+            node=self.node,
+            zenoh_session=self.zenoh_session,
             fleet_handle=None,
             tf_buffer=tf_buffer
         )
@@ -53,12 +63,7 @@ def test_robot_does_not_exist():
 
         assert not robot_exists
 
-
-def test_robot_exists():
-    rclpy.init()
-    node = Node('turtlebot3_1_nav2_robot_adapter_node')
-    zenoh.try_init_log_from_env()
-    with zenoh.open(zenoh.Config()) as session:
+    def test_robot_exists(self):
         tf_buffer = Buffer()
 
         robot_adapter = Nav2RobotAdapter(
@@ -67,8 +72,8 @@ def test_robot_exists():
             robot_config_yaml={
                 'initial_map': 'L1',
             },
-            node=node,
-            zenoh_session=session,
+            node=self.node,
+            zenoh_session=self.zenoh_session,
             fleet_handle=None,
             tf_buffer=tf_buffer
         )
@@ -81,8 +86,7 @@ def test_robot_exists():
                 break
             time.sleep(1)
 
-        # To check that it is running
-        assert not robot_exists
+        assert robot_exists
 
 
-# def test_robot_navigate():
+    # def test_robot_navigate():

free_fleet_adapter/tests/integration/test_nav2_tf_handler.py

@@ -15,24 +15,34 @@
 # limitations under the License.
 
 import time
+import unittest
 
 from free_fleet_adapter.nav2_robot_adapter import Nav2TfHandler
 import rclpy
-from rclpy.node import Node
 from tf2_ros import Buffer
 
 import zenoh
 
 
-def test_tf_does_not_exist():
-    rclpy.init()
-    node = Node('missing_turtlebot3_1_node')
-    zenoh.try_init_log_from_env()
-    with zenoh.open(zenoh.Config()) as session:
+class TestNav2TfHandler(unittest.TestCase):
+
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+        cls.node = rclpy.create_node('test_nav2_tf_handler')
+        cls.zenoh_session = zenoh.open(zenoh.Config())
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.node.destroy_node()
+        cls.zenoh_session.close()
+        rclpy.shutdown()
+
+    def test_tf_does_not_exist(self):
         tf_buffer = Buffer()
 
         tf_handler = Nav2TfHandler(
-            'missing_turtlebot3_1', session, tf_buffer, node
+            'missing_turtlebot3_1', self.zenoh_session, tf_buffer, self.node
         )
 
         transform_exists = False
@@ -45,15 +55,12 @@ def test_tf_does_not_exist():
 
         assert not transform_exists
 
-
-def test_tf_exists():
-    rclpy.init()
-    node = Node('turtlebot3_1_node')
-    zenoh.try_init_log_from_env()
-    with zenoh.open(zenoh.Config()) as session:
+    def test_tf_exists(self):
         tf_buffer = Buffer()
 
-        tf_handler = Nav2TfHandler('turtlebot3_1', session, tf_buffer, node)
+        tf_handler = Nav2TfHandler(
+            'turtlebot3_1', self.zenoh_session, tf_buffer, self.node
+        )
 
         transform_exists = False
         for i in range(10):