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Steering controller time related test fixes #13

Merged
merged 5 commits into from
May 22, 2023
Merged

Steering controller time related test fixes #13

merged 5 commits into from
May 22, 2023

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ARK3r
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@ARK3r ARK3r commented May 19, 2023

It seems there was a time comparison happening in the background and the two time objects were not on the same clock:

    [ RUN      ] TricycleSteeringControllerTest.reactivate_success
    [INFO] [1682530561.566980203] [test_tricycle_steering_controller]: tricycle odom configure successful
    [INFO] [1682530561.568943417] [test_tricycle_steering_controller]: configure successful
    unknown file: Failure
    C++ exception with description "can't subtract times with different time sources [2 != 1]" thrown in the test body.
    [  FAILED  ] TricycleSteeringControllerTest.reactivate_success (14 ms)

changed the clocks to be RCL_ROS_TIME and it resolved most of the problems except for the receive_message_and_publish_updated_status tests in each of the following 3 packages:

  • Ackermann_steering_controller
  • Tricycle_steering_controller
  • Bicycle_steering_controller

@ARK3r
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ARK3r commented May 22, 2023

Although changing the time objects to be in RCL_ROS_TIME doesn't fix the problem for the receive_message_and_publish_updated_status functions, I think it still adds a little bit of value since it shows this possible solution has been tested.

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ARK3r commented May 22, 2023

These changes are inspired by the diff_drive_controller tests on the main branch so I don't think these are band-aid fixes, I think they are resolving the actual problem.

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ARK3r commented May 22, 2023

this is the output I'm getting now:

root@a39237ac34b6:/ros2_ws# colcon test-result --verbose
build/ackermann_steering_controller/Testing/20230522-1704/Test.xml: 3 tests, 0 errors, 1 failure, 0 skipped
- test_load_ackermann_steering_controller
  <<< failure message
    -- run_test.py: invoking following command in '/ros2_ws/build/ackermann_steering_controller':
     - /ros2_ws/build/ackermann_steering_controller/test_load_ackermann_steering_controller --gtest_output=xml:/ros2_ws/build/ackermann_steering_controller/test_results/ackermann_steering_controller/test_load_ackermann_steering_controller.gtest.xml
    Running main() from gmock_main.cc
    [==========] Running 1 test from 1 test suite.
    [----------] Global test environment set-up.
    [----------] 1 test from TestLoadAckermannSteeringController
    [ RUN      ] TestLoadAckermannSteeringController.load_controller
    [INFO] [1684775076.187188187] [resource_manager]: Loading hardware 'TestActuatorHardware' 
    [INFO] [1684775076.188455273] [resource_manager]: Initialize hardware 'TestActuatorHardware' 
    [INFO] [1684775076.188545375] [resource_manager]: Successful initialization of hardware 'TestActuatorHardware'
    [INFO] [1684775076.188701427] [resource_manager]: Loading hardware 'TestSensorHardware' 
    [INFO] [1684775076.189271501] [resource_manager]: Initialize hardware 'TestSensorHardware' 
    [INFO] [1684775076.189301254] [resource_manager]: Successful initialization of hardware 'TestSensorHardware'
    [INFO] [1684775076.189311585] [resource_manager]: Loading hardware 'TestSystemHardware' 
    [INFO] [1684775076.189866005] [resource_manager]: Initialize hardware 'TestSystemHardware' 
    [INFO] [1684775076.189881419] [resource_manager]: Successful initialization of hardware 'TestSystemHardware'
    [WARN] [1684775076.208367111] [test_controller_manager]: 'update_rate' parameter not set, using default value.
    [INFO] [1684775076.212596670] [test_controller_manager]: Loading controller 'test_ackermann_steering_controller'
    Exception thrown during controller's init with message: parameter 'rear_wheels_names' is not initialized 
    [ERROR] [1684775076.219489502] [test_controller_manager]: Could not initialize the controller named 'test_ackermann_steering_controller'
    /ros2_ws/src/ros2_controllers/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp:37: Failure
    Expected: (cm.load_controller( "test_ackermann_steering_controller", "ackermann_steering_controller/AckermannSteeringController")) != (nullptr), actual: 16-byte object <00-00 00-00 00-00 00-00 00-00 00-00 00-00 00-00> vs (nullptr)
    [  FAILED  ] TestLoadAckermannSteeringController.load_controller (53 ms)
    [----------] 1 test from TestLoadAckermannSteeringController (53 ms total)
    
    [----------] Global test environment tear-down
    [==========] 1 test from 1 test suite ran. (53 ms total)
    [  PASSED  ] 0 tests.
    [  FAILED  ] 1 test, listed below:
    [  FAILED  ] TestLoadAckermannSteeringController.load_controller
    
     1 FAILED TEST
    -- run_test.py: return code 1
    -- run_test.py: inject classname prefix into gtest result file '/ros2_ws/build/ackermann_steering_controller/test_results/ackermann_steering_controller/test_load_ackermann_steering_controller.gtest.xml'
    -- run_test.py: verify result file '/ros2_ws/build/ackermann_steering_controller/test_results/ackermann_steering_controller/test_load_ackermann_steering_controller.gtest.xml'
  >>>
build/ackermann_steering_controller/test_results/ackermann_steering_controller/test_load_ackermann_steering_controller.gtest.xml: 1 test, 0 errors, 1 failure, 0 skipped
- ackermann_steering_controller.TestLoadAckermannSteeringController load_controller
  <<< failure message
    /ros2_ws/src/ros2_controllers/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp:37
    Expected: (cm.load_controller( "test_ackermann_steering_controller", "ackermann_steering_controller/AckermannSteeringController")) != (nullptr), actual: 16-byte object <00-00 00-00 00-00 00-00 00-00 00-00 00-00 00-00> vs (nullptr)
  >>>
build/bicycle_steering_controller/Testing/20230522-1704/Test.xml: 3 tests, 0 errors, 1 failure, 0 skipped
- test_load_bicycle_steering_controller
  <<< failure message
    -- run_test.py: invoking following command in '/ros2_ws/build/bicycle_steering_controller':
     - /ros2_ws/build/bicycle_steering_controller/test_load_bicycle_steering_controller --gtest_output=xml:/ros2_ws/build/bicycle_steering_controller/test_results/bicycle_steering_controller/test_load_bicycle_steering_controller.gtest.xml
    Running main() from gmock_main.cc
    [==========] Running 1 test from 1 test suite.
    [----------] Global test environment set-up.
    [----------] 1 test from TestLoadBicycleSteeringController
    [ RUN      ] TestLoadBicycleSteeringController.load_controller
    [INFO] [1684775076.201545587] [resource_manager]: Loading hardware 'TestActuatorHardware' 
    [INFO] [1684775076.202822456] [resource_manager]: Initialize hardware 'TestActuatorHardware' 
    [INFO] [1684775076.202910339] [resource_manager]: Successful initialization of hardware 'TestActuatorHardware'
    [INFO] [1684775076.203063773] [resource_manager]: Loading hardware 'TestSensorHardware' 
    [INFO] [1684775076.203690898] [resource_manager]: Initialize hardware 'TestSensorHardware' 
    [INFO] [1684775076.203720022] [resource_manager]: Successful initialization of hardware 'TestSensorHardware'
    [INFO] [1684775076.203730413] [resource_manager]: Loading hardware 'TestSystemHardware' 
    [INFO] [1684775076.204263417] [resource_manager]: Initialize hardware 'TestSystemHardware' 
    [INFO] [1684775076.204278602] [resource_manager]: Successful initialization of hardware 'TestSystemHardware'
    [WARN] [1684775076.222342262] [test_controller_manager]: 'update_rate' parameter not set, using default value.
    [INFO] [1684775076.227019676] [test_controller_manager]: Loading controller 'test_bicycle_steering_controller'
    Exception thrown during controller's init with message: parameter 'rear_wheels_names' is not initialized 
    [ERROR] [1684775076.233512338] [test_controller_manager]: Could not initialize the controller named 'test_bicycle_steering_controller'
    /ros2_ws/src/ros2_controllers/bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp:37: Failure
    Expected: (cm.load_controller( "test_bicycle_steering_controller", "bicycle_steering_controller/BicycleSteeringController")) != (nullptr), actual: 16-byte object <00-00 00-00 00-00 00-00 00-00 00-00 00-00 00-00> vs (nullptr)
    [  FAILED  ] TestLoadBicycleSteeringController.load_controller (50 ms)
    [----------] 1 test from TestLoadBicycleSteeringController (50 ms total)
    
    [----------] Global test environment tear-down
    [==========] 1 test from 1 test suite ran. (50 ms total)
    [  PASSED  ] 0 tests.
    [  FAILED  ] 1 test, listed below:
    [  FAILED  ] TestLoadBicycleSteeringController.load_controller
    
     1 FAILED TEST
    -- run_test.py: return code 1
    -- run_test.py: inject classname prefix into gtest result file '/ros2_ws/build/bicycle_steering_controller/test_results/bicycle_steering_controller/test_load_bicycle_steering_controller.gtest.xml'
    -- run_test.py: verify result file '/ros2_ws/build/bicycle_steering_controller/test_results/bicycle_steering_controller/test_load_bicycle_steering_controller.gtest.xml'
  >>>
build/bicycle_steering_controller/test_results/bicycle_steering_controller/test_load_bicycle_steering_controller.gtest.xml: 1 test, 0 errors, 1 failure, 0 skipped
- bicycle_steering_controller.TestLoadBicycleSteeringController load_controller
  <<< failure message
    /ros2_ws/src/ros2_controllers/bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp:37
    Expected: (cm.load_controller( "test_bicycle_steering_controller", "bicycle_steering_controller/BicycleSteeringController")) != (nullptr), actual: 16-byte object <00-00 00-00 00-00 00-00 00-00 00-00 00-00 00-00> vs (nullptr)
  >>>
build/tricycle_steering_controller/Testing/20230522-1704/Test.xml: 3 tests, 0 errors, 1 failure, 0 skipped
- test_load_tricycle_steering_controller
  <<< failure message
    -- run_test.py: invoking following command in '/ros2_ws/build/tricycle_steering_controller':
     - /ros2_ws/build/tricycle_steering_controller/test_load_tricycle_steering_controller --gtest_output=xml:/ros2_ws/build/tricycle_steering_controller/test_results/tricycle_steering_controller/test_load_tricycle_steering_controller.gtest.xml
    Running main() from gmock_main.cc
    [==========] Running 1 test from 1 test suite.
    [----------] Global test environment set-up.
    [----------] 1 test from TestLoadTricycleSteeringController
    [ RUN      ] TestLoadTricycleSteeringController.load_controller
    [INFO] [1684775076.231517487] [resource_manager]: Loading hardware 'TestActuatorHardware' 
    [INFO] [1684775076.232724834] [resource_manager]: Initialize hardware 'TestActuatorHardware' 
    [INFO] [1684775076.232812518] [resource_manager]: Successful initialization of hardware 'TestActuatorHardware'
    [INFO] [1684775076.232968316] [resource_manager]: Loading hardware 'TestSensorHardware' 
    [INFO] [1684775076.233523258] [resource_manager]: Initialize hardware 'TestSensorHardware' 
    [INFO] [1684775076.233554546] [resource_manager]: Successful initialization of hardware 'TestSensorHardware'
    [INFO] [1684775076.233565958] [resource_manager]: Loading hardware 'TestSystemHardware' 
    [INFO] [1684775076.234085454] [resource_manager]: Initialize hardware 'TestSystemHardware' 
    [INFO] [1684775076.234099826] [resource_manager]: Successful initialization of hardware 'TestSystemHardware'
    [WARN] [1684775076.250967558] [test_controller_manager]: 'update_rate' parameter not set, using default value.
    [INFO] [1684775076.254801385] [test_controller_manager]: Loading controller 'test_tricycle_steering_controller'
    Exception thrown during controller's init with message: parameter 'rear_wheels_names' is not initialized 
    [ERROR] [1684775076.261003754] [test_controller_manager]: Could not initialize the controller named 'test_tricycle_steering_controller'
    /ros2_ws/src/ros2_controllers/tricycle_steering_controller/test/test_load_tricycle_steering_controller.cpp:37: Failure
    Expected: (cm.load_controller( "test_tricycle_steering_controller", "tricycle_steering_controller/TricycleSteeringController")) != (nullptr), actual: 16-byte object <00-00 00-00 00-00 00-00 00-00 00-00 00-00 00-00> vs (nullptr)
    [  FAILED  ] TestLoadTricycleSteeringController.load_controller (48 ms)
    [----------] 1 test from TestLoadTricycleSteeringController (48 ms total)
    
    [----------] Global test environment tear-down
    [==========] 1 test from 1 test suite ran. (48 ms total)
    [  PASSED  ] 0 tests.
    [  FAILED  ] 1 test, listed below:
    [  FAILED  ] TestLoadTricycleSteeringController.load_controller
    
     1 FAILED TEST
    -- run_test.py: return code 1
    -- run_test.py: inject classname prefix into gtest result file '/ros2_ws/build/tricycle_steering_controller/test_results/tricycle_steering_controller/test_load_tricycle_steering_controller.gtest.xml'
    -- run_test.py: verify result file '/ros2_ws/build/tricycle_steering_controller/test_results/tricycle_steering_controller/test_load_tricycle_steering_controller.gtest.xml'
  >>>
build/tricycle_steering_controller/test_results/tricycle_steering_controller/test_load_tricycle_steering_controller.gtest.xml: 1 test, 0 errors, 1 failure, 0 skipped
- tricycle_steering_controller.TestLoadTricycleSteeringController load_controller
  <<< failure message
    /ros2_ws/src/ros2_controllers/tricycle_steering_controller/test/test_load_tricycle_steering_controller.cpp:37
    Expected: (cm.load_controller( "test_tricycle_steering_controller", "tricycle_steering_controller/TricycleSteeringController")) != (nullptr), actual: 16-byte object <00-00 00-00 00-00 00-00 00-00 00-00 00-00 00-00> vs (nullptr)
  >>>

Summary: 49 tests, 0 errors, 6 failures, 0 skipped

as opposed to all the time related issues in this ci (I did get those errors before in my build and I don't anymore)

@bmagyar
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bmagyar commented May 22, 2023

This is great, thank you!!

@bmagyar bmagyar merged commit b9bdf63 into StoglRobotics-forks:ackermann-odometry-library May 22, 2023
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