Robot existense test, with a planned failure to verify that it is run…

…ning

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

free_fleet_adapter/CMakeLists.txt

@@ -30,6 +30,7 @@ if(BUILD_TESTING)
   if (INTEGRATION_TESTING)
     set(_pytest_tests
       tests/integration/test_nav2_tf_handler.py
+      tests/integration/test_nav2_robot_adapter.py
     )
     foreach(_test_path ${_pytest_tests})
       get_filename_component(_test_name ${_test_path} NAME_WE)

free_fleet_adapter/tests/integration/test_nav2_robot_adapter.py

@@ -0,0 +1,82 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import time
+
+from free_fleet_adapter.nav2_robot_adapter import Nav2RobotAdapter
+from tf2_ros import Buffer
+
+import zenoh
+
+
+def test_robot_does_not_exist():
+    zenoh.try_init_log_from_env()
+    with zenoh.open(zenoh.Config()) as session:
+        tf_buffer = Buffer()
+
+        robot_adapter = Nav2RobotAdapter(
+            name='missing_turtlebot3_1',
+            configuration=None,
+            robot_config_yaml={
+                'initial_map': 'L1',
+            },
+            node=None,
+            zenoh_session=session,
+            fleet_handle=None,
+            tf_buffer=tf_buffer
+        )
+
+        robot_exists = False
+        for i in range(10):
+            transform = robot_adapter.pose()
+            if transform is not None:
+                robot_exists = True
+                break
+            time.sleep(1)
+
+        assert not robot_exists
+
+
+def test_robot_exists():
+    zenoh.try_init_log_from_env()
+    with zenoh.open(zenoh.Config()) as session:
+        tf_buffer = Buffer()
+
+        robot_adapter = Nav2RobotAdapter(
+            name='turtlebot3_1',
+            configuration=None,
+            robot_config_yaml={
+                'initial_map': 'L1',
+            },
+            node=None,
+            zenoh_session=session,
+            fleet_handle=None,
+            tf_buffer=tf_buffer
+        )
+
+        robot_exists = False
+        for i in range(10):
+            transform = robot_adapter.pose()
+            if transform is not None:
+                robot_exists = True
+                break
+            time.sleep(1)
+
+        # To check that it is running
+        assert not robot_exists
+
+
+# def test_robot_navigate():