safety_limiter: status broadcasting from safety_limiter node #383
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[#1065] PASSED on kineticAll tests passed[#1065] PASSED on melodicAll tests passed |
Codecov Report
@@ Coverage Diff @@
## master #383 +/- ##
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+ Coverage 73.87% 73.97% +0.09%
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Files 56 56
Lines 4146 4157 +11
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+ Hits 3063 3075 +12
+ Misses 1083 1082 -1
Continue to review full report at Codecov.
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@at-wat PTAL |
[#1066] PASSED on kineticAll tests passed[#1066] PASSED on melodicAll tests passed |
at-wat
reviewed
Sep 11, 2019
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@DaikiMaekawa could you add ASSERTs to the test like https://github.com/at-wat/neonavigation/pull/374/files?
safety_limiter/package.xml
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| @@ -20,6 +20,7 @@ | |||
| <depend>pcl_conversions</depend> | |||
| <depend>sensor_msgs</depend> | |||
| <depend>std_msgs</depend> | |||
| <depend>safety_limiter_msgs</depend> | |||
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please move this to the block at L27
| { | ||
| neonavigation_common::compat::checkCompatMode(); | ||
| pub_twist_ = neonavigation_common::compat::advertise<geometry_msgs::Twist>( | ||
| nh_, "cmd_vel", | ||
| pnh_, "cmd_vel_out", 1, true); | ||
| pub_cloud_ = nh_.advertise<sensor_msgs::PointCloud>("collision", 1, true); | ||
| pub_debug_ = nh_.advertise<sensor_msgs::PointCloud>("debug", 1, true); | ||
| pub_status_ = nh_.advertise<safety_limiter_msgs::SafetyLimiterStatus>("status", 1, true); |
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/status is too general and may cause conflict.
trajectory_tracker is publishing status to the node private namespace.
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switched to use pnh_ instead.
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@at-wat Addressed your comments. |
[#1068] PASSED on kineticAll tests passed[#1068] PASSED on melodicAll tests passed |
DaikiMaekawa
commented
Sep 13, 2019
.travis/Dockerfile
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| @@ -9,7 +9,7 @@ WORKDIR /repos | |||
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| COPY . /repos/src/neonavigation | |||
| RUN cd /repos/src \ | |||
| && git clone --depth=1 https://github.com/at-wat/neonavigation_msgs.git \ | |||
| && git clone --branch=safety-limiter-msgs --depth=1 https://github.com/at-wat/neonavigation_msgs.git \ | |||
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Needs to be removed before merging the PR.
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The PR on neonavigation_msgs has been merged.
at-wat
reviewed
Sep 17, 2019
| if (with_watchdog_reset > 0 && with_cloud > 1) | ||
| { | ||
| ASSERT_TRUE(hasDiag()) << test_condition; | ||
| EXPECT_EQ(diagnostic_msgs::DiagnosticStatus::OK, diag_->status[0].level) | ||
| << test_condition << ", " | ||
| << "message: " << diag_->status[0].message; | ||
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| ASSERT_FALSE(status_->has_watchdog_timed_out) << test_condition; |
| @@ -225,6 +232,11 @@ TEST_F(SafetyLimiterTest, SafetyLimitLinear) | |||
| EXPECT_EQ(diagnostic_msgs::DiagnosticStatus::OK, diag_->status[0].level) | |||
| << "message: " << diag_->status[0].message; | |||
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| ASSERT_TRUE(hasStatus()); | |||
| ASSERT_TRUE(status_->is_cloud_available); | |||
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It would be better to make it EXPECT to check all fields of status_ even if it is partially wrong.
(other checks of status_ fields would be same.)
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@at-wat Updated the code where you pointed out. |
[#1069] FAILED on melodic
[#1069] PASSED on kineticAll tests passed |
[#1070] PASSED on kineticAll tests passed[#1070] PASSED on melodicAll tests passed |
at-wat
reviewed
Sep 17, 2019
| ASSERT_TRUE(hasStatus()); | ||
| EXPECT_TRUE(status_->is_cloud_available); | ||
| EXPECT_FALSE(status_->has_watchdog_timed_out); | ||
| ASSERT_NE(status_->stuck_started_since, ros::Time(0)); |
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could you unify ASSERT/EXPECT among test cases?
.travis/Dockerfile
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| @@ -9,7 +9,7 @@ WORKDIR /repos | |||
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| COPY . /repos/src/neonavigation | |||
| RUN cd /repos/src \ | |||
| && git clone --depth=1 https://github.com/at-wat/neonavigation_msgs.git \ | |||
| && git clone --branch=safety-limiter-msgs --depth=1 https://github.com/at-wat/neonavigation_msgs.git \ | |||
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The PR on neonavigation_msgs has been merged.
[#1071] PASSED on kineticAll tests passed[#1071] PASSED on melodicAll tests passed |
at-wat
approved these changes
Sep 17, 2019
at-wat
changed the title
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closes #373