Ci core bringup test - #56
Merged
Merged
Conversation
Arcod7
force-pushed
the
aes/ci-core-bringup-test
branch
2 times, most recently
from
September 3, 2026 08:19
7265c83 to
b5b7734
Compare
ci_tmux_launcher_smoke.sh answers "did the processes start", and both of the
bugs behind the blank 3D viewer passed it cleanly. A stack can have every
process alive and still be useless to the control panel:
* Another machine on the network running Lucy puts a second
robot_state_publisher on the graph. Both latch /robot_description, viewers
take whichever they discover, and meshes then resolve against the other
host -- file://C:\Users\...\stand.dae reaching a Linux RViz. The same
collision puts a second controller_manager on the joints.
* rosbridge fixes a subscription's durability when the subscription is made,
from the publishers present at that instant. Subscribe before
robot_state_publisher exists and it is VOLATILE, so the latched URDF is
never delivered and the viewer waits on a topic already published.
So assert on the graph rather than the process table: exactly one publisher of
/robot_description, that it is transient_local, that its meshes resolve to
files inside this workspace, that every loaded controller reaches active, and
that the URDF reaches a websocket client through rosbridge the way the panel
fetches it.
Core is launched through _tmux_new_pixi_window rather than ros2 directly, so
the test covers the path production uses. The Pixi task sources dds_env.sh for
the same reason the launcher's prelude does: a probe on a wider graph than the
stack itself can see reports publishers no node in the stack could reach.
Controller activation is polled rather than sampled. The spawners are staggered
behind the entity reaching Gazebo, so a single sample after a fixed wait
returns a different controller set run to run -- 4 active, 3 active and 0
loaded across three runs of the same command while this was being written.
Teardown runs in a finally and dumps the core pane when a check fails, since
the session is about to go away.
Arcod7
force-pushed
the
aes/ci-core-bringup-test
branch
from
September 3, 2026 08:34
b5b7734 to
47d7125
Compare
Mael-RABOT
approved these changes
Sep 3, 2026
charlesmadjeri
approved these changes
Sep 3, 2026
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
3 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
OP#207