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Fix costmap publisher test #3679

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merged 5 commits into from
Jul 6, 2023
Merged

Fix costmap publisher test #3679

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eee6113
added printouts
jwallace42 Jul 2, 2023
3a2e4f3
ignore system tests
jwallace42 Jul 2, 2023
117dd56
fix
jwallace42 Jul 2, 2023
179361f
cleanup
jwallace42 Jul 3, 2023
2669ef7
Update test_costmap_2d_publisher.cpp
jwallace42 Jul 3, 2023
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13 changes: 7 additions & 6 deletions nav2_costmap_2d/test/integration/test_costmap_2d_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -117,7 +117,7 @@ class LayerSubscriber
protected:
void layerCallback(const nav2_msgs::msg::Costmap::SharedPtr layer)
{
if (!callback_hit_) {
if (!callback_hit_ && (layer->data.size() == 100)) {
layer_promise_.set_value(layer);
callback_hit_ = true;
}
Expand Down Expand Up @@ -157,23 +157,24 @@ TEST_F(CostmapRosTestFixture, costmap_pub_test)
{
auto future = layer_subscriber_->layer_promise_.get_future();
auto status = future.wait_for(std::chrono::seconds(5));
EXPECT_TRUE(status == std::future_status::ready);
ASSERT_TRUE(status == std::future_status::ready);

auto costmap_raw = future.get();

// Check first 20 cells of the 10by10 map
ASSERT_TRUE(costmap_raw->data.size() == 100);
unsigned int i = 0;
for (; i < 7; ++i) {
EXPECT_EQ(costmap_raw->data[i], nav2_costmap_2d::FREE_SPACE);
EXPECT_EQ(costmap_raw->data.at(i), nav2_costmap_2d::FREE_SPACE);
}
for (; i < 10; ++i) {
EXPECT_EQ(costmap_raw->data[i], nav2_costmap_2d::LETHAL_OBSTACLE);
EXPECT_EQ(costmap_raw->data.at(i), nav2_costmap_2d::LETHAL_OBSTACLE);
}
for (; i < 17; ++i) {
EXPECT_EQ(costmap_raw->data[i], nav2_costmap_2d::FREE_SPACE);
EXPECT_EQ(costmap_raw->data.at(i), nav2_costmap_2d::FREE_SPACE);
}
for (; i < 20; ++i) {
EXPECT_EQ(costmap_raw->data[i], nav2_costmap_2d::LETHAL_OBSTACLE);
EXPECT_EQ(costmap_raw->data.at(i), nav2_costmap_2d::LETHAL_OBSTACLE);
}

SUCCEED();
Expand Down