Terminal 1 - Git Checkout & Simulation:

source /opt/ros/noetic/setup.bash

cd ~/simulation_ws/src/tortoisebot_waypoints

git checkout task1

source ~/simulation_ws/devel/setup.bash

roslaunch tortoisebot_gazebo tortoisebot_playground.launch

Abort and Re-Launch Gazebo if there are any issues. Use kill -9 <gazebo_pid>.

Terminal 2 - ROS1 Test:

source /opt/ros/noetic/setup.bash

cd ~/simulation_ws && catkin_make && source devel/setup.bash

rostest tortoisebot_waypoints waypoints_test.test --reuse-master

For SUCCESS:

rostest tortoisebot_waypoints waypoints_test.test --reuse-master x:=0.5 y:=0.5 tolerance:=0.2

For FAILURE:

rostest tortoisebot_waypoints waypoints_test.test --reuse-master x:=1.0 y:=2.0 tolerance:=0.2