From c291f7fbd3f837a232f005bfecc44ee7a06f1727 Mon Sep 17 00:00:00 2001 From: Joshua Wallace <josho.wallace@gmail.com> Date: Sat, 4 Jun 2022 14:40:51 -0400 Subject: [PATCH 1/2] fixed tests --- .../test/plugins/action/test_back_up_cancel_node.cpp | 1 + .../test/plugins/action/test_controller_cancel_node.cpp | 1 + .../plugins/action/test_drive_on_heading_cancel_node.cpp | 1 + .../test/plugins/action/test_spin_cancel_node.cpp | 1 + .../test/plugins/action/test_wait_cancel_node.cpp | 1 + .../test/plugins/condition/test_is_path_valid.cpp | 7 ++++--- .../test/plugins/condition/test_path_expiring_timer.cpp | 1 + 7 files changed, 10 insertions(+), 3 deletions(-) diff --git a/nav2_behavior_tree/test/plugins/action/test_back_up_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_back_up_cancel_node.cpp index 5bef6868e5..e1a04c82a7 100644 --- a/nav2_behavior_tree/test/plugins/action/test_back_up_cancel_node.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_back_up_cancel_node.cpp @@ -83,6 +83,7 @@ class CancelBackUpActionTestFixture : public ::testing::Test config_ = nullptr; node_.reset(); action_server_.reset(); + client_.reset(); factory_.reset(); } diff --git a/nav2_behavior_tree/test/plugins/action/test_controller_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_controller_cancel_node.cpp index 3ca86a832b..cf754c5229 100644 --- a/nav2_behavior_tree/test/plugins/action/test_controller_cancel_node.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_controller_cancel_node.cpp @@ -83,6 +83,7 @@ class CancelControllerActionTestFixture : public ::testing::Test config_ = nullptr; node_.reset(); action_server_.reset(); + client_.reset(); factory_.reset(); } diff --git a/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_cancel_node.cpp index d0eb2b5bd5..6c6eb57233 100644 --- a/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_cancel_node.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_cancel_node.cpp @@ -86,6 +86,7 @@ class CancelDriveOnHeadingTestFixture : public ::testing::Test config_ = nullptr; node_.reset(); action_server_.reset(); + client_.reset(); factory_.reset(); } diff --git a/nav2_behavior_tree/test/plugins/action/test_spin_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_spin_cancel_node.cpp index 7909067381..978dc2d78f 100644 --- a/nav2_behavior_tree/test/plugins/action/test_spin_cancel_node.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_spin_cancel_node.cpp @@ -83,6 +83,7 @@ class CancelSpinActionTestFixture : public ::testing::Test config_ = nullptr; node_.reset(); action_server_.reset(); + client_.reset(); factory_.reset(); } diff --git a/nav2_behavior_tree/test/plugins/action/test_wait_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_wait_cancel_node.cpp index 9e72f1413c..f1ed0750d8 100644 --- a/nav2_behavior_tree/test/plugins/action/test_wait_cancel_node.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_wait_cancel_node.cpp @@ -83,6 +83,7 @@ class CancelWaitActionTestFixture : public ::testing::Test config_ = nullptr; node_.reset(); action_server_.reset(); + client_.reset(); factory_.reset(); } diff --git a/nav2_behavior_tree/test/plugins/condition/test_is_path_valid.cpp b/nav2_behavior_tree/test/plugins/condition/test_is_path_valid.cpp index 8984aac8c1..e086a937b1 100644 --- a/nav2_behavior_tree/test/plugins/condition/test_is_path_valid.cpp +++ b/nav2_behavior_tree/test/plugins/condition/test_is_path_valid.cpp @@ -67,9 +67,10 @@ class IsPathValidTestFixture : public ::testing::Test { delete config_; config_ = nullptr; + server_.reset(); node_.reset(); factory_.reset(); - server_.reset(); + tree_.reset(); } static std::shared_ptr<IsPathValidService> server_; @@ -98,9 +99,9 @@ TEST_F(IsPathValidTestFixture, test_behavior) </root>)"; tree_ = std::make_shared<BT::Tree>(factory_->createTreeFromText(xml_txt, config_->blackboard)); - std::this_thread::sleep_for(500ms); + // std::this_thread::sleep_for(500ms); - EXPECT_EQ(tree_->rootNode()->executeTick(), BT::NodeStatus::SUCCESS); + // EXPECT_EQ(tree_->rootNode()->executeTick(), BT::NodeStatus::SUCCESS); } int main(int argc, char ** argv) diff --git a/nav2_behavior_tree/test/plugins/condition/test_path_expiring_timer.cpp b/nav2_behavior_tree/test/plugins/condition/test_path_expiring_timer.cpp index b88fc4d634..385b1cfed8 100644 --- a/nav2_behavior_tree/test/plugins/condition/test_path_expiring_timer.cpp +++ b/nav2_behavior_tree/test/plugins/condition/test_path_expiring_timer.cpp @@ -43,6 +43,7 @@ class PathExpiringTimerConditionTestFixture : public nav2_behavior_tree::Behavio { delete config_; config_ = nullptr; + node_.reset(); bt_node_.reset(); } From 0f515d97d5d02152ec3dde8f2e09dfa9dd44f325 Mon Sep 17 00:00:00 2001 From: Joshua Wallace <josho.wallace@gmail.com> Date: Sat, 4 Jun 2022 14:49:29 -0400 Subject: [PATCH 2/2] undo --- .../test/plugins/condition/test_is_path_valid.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/nav2_behavior_tree/test/plugins/condition/test_is_path_valid.cpp b/nav2_behavior_tree/test/plugins/condition/test_is_path_valid.cpp index e086a937b1..21728b4fcc 100644 --- a/nav2_behavior_tree/test/plugins/condition/test_is_path_valid.cpp +++ b/nav2_behavior_tree/test/plugins/condition/test_is_path_valid.cpp @@ -99,9 +99,9 @@ TEST_F(IsPathValidTestFixture, test_behavior) </root>)"; tree_ = std::make_shared<BT::Tree>(factory_->createTreeFromText(xml_txt, config_->blackboard)); - // std::this_thread::sleep_for(500ms); + std::this_thread::sleep_for(500ms); - // EXPECT_EQ(tree_->rootNode()->executeTick(), BT::NodeStatus::SUCCESS); + EXPECT_EQ(tree_->rootNode()->executeTick(), BT::NodeStatus::SUCCESS); } int main(int argc, char ** argv)