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Wait for initial pose and increase timeouts #1759

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merged 1 commit into from
May 22, 2020
Merged

Wait for initial pose and increase timeouts #1759

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2 changes: 1 addition & 1 deletion nav2_system_tests/src/localization/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ ament_target_dependencies(test_localization_node
ament_add_test(test_localization
GENERATE_RESULT_FOR_RETURN_CODE_ZERO
COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_localization_launch.py"
TIMEOUT 60
TIMEOUT 180
ENV
TEST_MAP=${PROJECT_SOURCE_DIR}/maps/map_circular.yaml
TEST_EXECUTABLE=$<TARGET_FILE:test_localization_node>
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2 changes: 1 addition & 1 deletion nav2_system_tests/src/recoveries/spin/CMakeLists.txt
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Expand Up @@ -13,7 +13,7 @@ ament_add_test(test_spin_recovery
GENERATE_RESULT_FOR_RETURN_CODE_ZERO
COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_spin_recovery_launch.py"
WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
TIMEOUT 100
TIMEOUT 180
ENV
TEST_MAP=${PROJECT_SOURCE_DIR}/maps/map_circular.yaml
TEST_EXECUTABLE=$<TARGET_FILE:${test_spin_recovery_exec}>
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2 changes: 1 addition & 1 deletion nav2_system_tests/src/recoveries/wait/CMakeLists.txt
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Expand Up @@ -13,7 +13,7 @@ ament_add_test(test_wait_recovery
GENERATE_RESULT_FOR_RETURN_CODE_ZERO
COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_wait_recovery_launch.py"
WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
TIMEOUT 100
TIMEOUT 180
ENV
TEST_MAP=${PROJECT_SOURCE_DIR}/maps/map_circular.yaml
TEST_EXECUTABLE=$<TARGET_FILE:${test_wait_recovery_exec}>
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8 changes: 4 additions & 4 deletions nav2_system_tests/src/system/CMakeLists.txt
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Expand Up @@ -2,7 +2,7 @@ ament_add_test(test_bt_navigator
GENERATE_RESULT_FOR_RETURN_CODE_ZERO
COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_system_launch.py"
WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
TIMEOUT 100
TIMEOUT 180
ENV
TEST_DIR=${CMAKE_CURRENT_SOURCE_DIR}
TEST_MAP=${PROJECT_SOURCE_DIR}/maps/map_circular.yaml
Expand All @@ -16,7 +16,7 @@ ament_add_test(test_bt_navigator_with_dijkstra
GENERATE_RESULT_FOR_RETURN_CODE_ZERO
COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_system_launch.py"
WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
TIMEOUT 100
TIMEOUT 180
ENV
TEST_DIR=${CMAKE_CURRENT_SOURCE_DIR}
TEST_MAP=${PROJECT_SOURCE_DIR}/maps/map_circular.yaml
Expand All @@ -30,7 +30,7 @@ ament_add_test(test_dynamic_obstacle
GENERATE_RESULT_FOR_RETURN_CODE_ZERO
COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_system_launch.py"
WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
TIMEOUT 100
TIMEOUT 180
ENV
TEST_DIR=${CMAKE_CURRENT_SOURCE_DIR}
TEST_MAP=${PROJECT_SOURCE_DIR}/maps/map_circular.yaml
Expand All @@ -44,7 +44,7 @@ ament_add_test(test_dynamic_obstacle
# GENERATE_RESULT_FOR_RETURN_CODE_ZERO
# COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_multi_robot_launch.py"
# WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
# TIMEOUT 120
# TIMEOUT 180
# ENV
# TEST_DIR=${CMAKE_CURRENT_SOURCE_DIR}
# TEST_MAP=${PROJECT_SOURCE_DIR}/maps/map_circular.yaml
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27 changes: 8 additions & 19 deletions nav2_system_tests/src/system/tester_node.py
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Expand Up @@ -203,22 +203,13 @@ def shutdown(self):
except Exception as e:
self.error_msg('Service call failed %r' % (e,))


def test_InitialPose(robot_tester, timeout, retries):
robot_tester.initial_pose_received = False
retry_count = 1
while not robot_tester.initial_pose_received and retry_count <= retries:
retry_count += 1
robot_tester.info_msg('Setting initial pose')
robot_tester.setInitialPose()
robot_tester.info_msg('Waiting for amcl_pose to be received')
rclpy.spin_once(robot_tester, timeout_sec=timeout) # wait for poseCallback

if (robot_tester.initial_pose_received):
robot_tester.info_msg('test_InitialPose PASSED')
else:
robot_tester.info_msg('test_InitialPose FAILED')
return robot_tester.initial_pose_received
def wait_for_initial_pose(self):
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self.initial_pose_received = False
while not self.initial_pose_received:
self.info_msg('Setting initial pose')
self.setInitialPose()
self.info_msg('Waiting for amcl_pose to be received')
rclpy.spin_once(self, timeout_sec=1)


def test_RobotMovesToGoal(robot_tester):
Expand All @@ -233,10 +224,8 @@ def run_all_tests(robot_tester):
result = True
if (result):
robot_tester.wait_for_node_active('amcl')
result = test_InitialPose(robot_tester, timeout=1, retries=10)
if (result):
robot_tester.wait_for_initial_pose()
robot_tester.wait_for_node_active('bt_navigator')
if (result):
result = robot_tester.runNavigateAction()

# TODO(orduno) Test sending the navigation request through the topic interface.
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2 changes: 1 addition & 1 deletion nav2_system_tests/src/waypoint_follower/CMakeLists.txt
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Expand Up @@ -2,7 +2,7 @@ ament_add_test(test_waypoint_follower
GENERATE_RESULT_FOR_RETURN_CODE_ZERO
COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_case_py.launch"
WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
TIMEOUT 100
TIMEOUT 180
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ENV
TEST_DIR=${CMAKE_CURRENT_SOURCE_DIR}
TEST_MAP=${PROJECT_SOURCE_DIR}/maps/map_circular.yaml
Expand Down