Terminal 1 - Git Checkout & Simulation:

source /opt/ros/galactic/setup.bash

cd ~/ros2_ws/src/tortoisebot/tortoisebot_waypoints

git checkout task2

source ~/ros2_ws/install/setup.bash

ros2 launch tortoisebot_bringup bringup.launch.py use_sim_time:=True

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

Terminal 2 - Waypoints Action Server:

source /opt/ros/galactic/setup.bash

source ~/ros2_ws/install/setup.bash

ros2 run tortoisebot_waypoints tortoisebot_action_server

Terminal 3 - ROS2 Test:

source /opt/ros/galactic/setup.bash

cd ~/ros2_ws && colcon build && source install/setup.bash

colcon test --packages-select tortoisebot_waypoints --event-handler=console_direct+

For SUCCESS:

GOAL_X=0.5 GOAL_Y=0.5 colcon test --packages-select tortoisebot_waypoints --event-handler=console_direct+

For FAILURE:

GOAL_X=1.0 GOAL_Y=2.0 colcon test --packages-select tortoisebot_waypoints --event-handler=console_direct+