Fix the updown test. (#1061)

nav2_system_tests/src/updown/test_updown_launch.py

@@ -50,79 +50,81 @@ def generate_launch_description():
 
     start_gazebo_cmd = launch.actions.ExecuteProcess(
         cmd=['gzserver', '-s', 'libgazebo_ros_init.so',
-             world, ['__params:=', params_file]],
+             world,
+             '--ros-args', ['__params:=', params_file]],
         cwd=[launch_dir], output='screen')
 
     start_robot_state_publisher_cmd = launch.actions.ExecuteProcess(
         cmd=[
             os.path.join(
                 get_package_prefix('robot_state_publisher'),
                 'lib/robot_state_publisher/robot_state_publisher'),
-            urdf, ['__params:=', params_file]],
+            urdf,
+            '--ros-args', ['__params:=', params_file]],
         cwd=[launch_dir], output='screen')
 
     start_map_server_cmd = launch.actions.ExecuteProcess(
         cmd=[
             os.path.join(
                 get_package_prefix('nav2_map_server'),
                 'lib/nav2_map_server/map_server'),
-            ['__params:=', params_file]],
+                '--ros-args', ['__params:=', params_file]],
         cwd=[launch_dir], output='screen')
 
     start_localizer_cmd = launch.actions.ExecuteProcess(
         cmd=[
             os.path.join(
                 get_package_prefix('nav2_amcl'),
                 'lib/nav2_amcl/amcl'),
-            ['__params:=', params_file]],
+                '--ros-args', ['__params:=', params_file]],
         cwd=[launch_dir], output='screen')
 
     start_world_model_cmd = launch.actions.ExecuteProcess(
         cmd=[
             os.path.join(
                 get_package_prefix('nav2_world_model'),
                 'lib/nav2_world_model/world_model'),
-            ['__params:=', params_file]],
+                '--ros-args', ['__params:=', params_file]],
         cwd=[launch_dir], output='screen')
 
     start_dwb_cmd = launch.actions.ExecuteProcess(
         cmd=[
             os.path.join(
                 get_package_prefix('dwb_controller'),
                 'lib/dwb_controller/dwb_controller'),
-            ['__params:=', params_file]],
+                '--ros-args', ['__params:=', params_file]],
         cwd=[launch_dir], output='screen')
 
     start_planner_cmd = launch.actions.ExecuteProcess(
         cmd=[
             os.path.join(
                 get_package_prefix('nav2_navfn_planner'),
                 'lib/nav2_navfn_planner/navfn_planner'),
-            ['__params:=', params_file]],
+                '--ros-args', ['__params:=', params_file]],
         cwd=[launch_dir], output='screen')
 
     start_navigator_cmd = launch.actions.ExecuteProcess(
         cmd=[
             os.path.join(
                 get_package_prefix('nav2_bt_navigator'),
                 'lib/nav2_bt_navigator/bt_navigator'),
-            ['__params:=', params_file]],
+                '--ros-args', ['__params:=', params_file]],
         cwd=[launch_dir], output='screen')
 
     start_controller_cmd = launch.actions.ExecuteProcess(
         cmd=[
             os.path.join(
                 get_package_prefix('nav2_lifecycle_manager'),
                 'lib/nav2_lifecycle_manager/lifecycle_manager'),
-            ['__params:=', params_file]],
+                '--ros-args', ['__params:=', params_file]],
         cwd=[launch_dir], output='screen')
 
     startup_cmd = launch.actions.ExecuteProcess(
         cmd=[
             os.path.join(
                 get_package_prefix('nav2_system_tests'),
                 'lib/nav2_system_tests/test_updown'),
-            ['__params:=', params_file]],
+                '--ros-args', ['__params:=', params_file]],
         cwd=[launch_dir], output='screen')
 
     startup_exit_event_handler = launch.actions.RegisterEventHandler(

nav2_system_tests/src/updown/updownresults.py

@@ -0,0 +1,56 @@
+#!/usr/bin/python3
+
+# To use this script, run the `test_updown_reliablity` script and log the output
+# > ./test_updown_reliablity |& tee /tmp/updown.log
+# When the test is completed, pipe the log to this script to get a summary of the
+# results
+# > ./updownresults.py < /tmp/updown.log
+#
+# This reports the number of successful tests, but also the number of times the
+# tests were able to make it to the active state as well as the shutdown state.
+# It can frequently occur that the system makes all the lifecycle state transitions
+# but has an error during the final process termination.
+
+import sys
+
+def main():
+    log = sys.stdin
+    test_count = 0
+    fail_count = 0
+    successful_bringup_count = 0
+    successful_shutdown_count = 0
+    for line in log.readlines():
+        if line.startswith('======= START OF RUN:'):
+            test_successful = True
+            shutdown_successful = False
+            bringup_successful = False
+
+        if line.startswith('======== END OF RUN:'):
+            test_count += 1
+            conclusion = ""
+            if bringup_successful:
+                successful_bringup_count += 1
+                conclusion = " but bringup was successful"
+            if shutdown_successful:
+                successful_shutdown_count +=1
+                conclusion = " but shutdown was successful"
+            if not test_successful:
+                fail_count += 1
+                print("Failure in test ", test_count, conclusion)
+
+        if '[ERROR]' in line:
+            test_successful = False
+
+        if 'The system is active' in line:
+            bringup_successful = True
+
+        if 'The system has been sucessfully shut down' in line:
+            shutdown_successful = True
+
+    print("Number of tests: ", test_count)
+    print("Number of successes: ", test_count-fail_count)
+    print("Number of successful bringups", successful_bringup_count)
+    print("Number of successful shutdowns", successful_shutdown_count)
+
+if __name__ == '__main__':
+    main()