Enable global planner tester (#927)

ros-navigation · Aug 28, 2019 · 39ab506 · 39ab506
1 parent c27d663
commit 39ab506
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Showing 8 changed files with 190 additions and 120 deletions.
diff --git a/nav2_system_tests/CMakeLists.txt b/nav2_system_tests/CMakeLists.txt
@@ -11,6 +11,7 @@ find_package(nav_msgs REQUIRED)
 find_package(visualization_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
 find_package(gazebo_ros_pkgs REQUIRED)
 find_package(nav2_amcl REQUIRED)
 find_package(nav2_lifecycle_manager REQUIRED)
@@ -30,6 +31,7 @@ set(dependencies
   gazebo_ros_pkgs
   geometry_msgs
   std_msgs
+  tf2_geometry_msgs
   rclpy
 )
 
@@ -40,7 +42,7 @@ if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_cmake_pytest REQUIRED)
 
-  # add_subdirectory(src/planning)
+  add_subdirectory(src/planning)
   add_subdirectory(src/localization)
   add_subdirectory(src/system)
   add_subdirectory(src/updown)

diff --git a/nav2_system_tests/package.xml b/nav2_system_tests/package.xml
@@ -22,6 +22,7 @@
   <build_depend>launch_testing</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
+  <build_depend>tf2_geometry_msgs</build_depend>
   <build_depend>gazebo_ros_pkgs</build_depend>
   <build_depend>launch_ros</build_depend>
   <build_depend>launch_testing</build_depend>
@@ -39,6 +40,7 @@
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>nav2_amcl</exec_depend>
   <exec_depend>std_msgs</exec_depend>
+  <exec_depend>tf2_geometry_msgs</exec_depend>
   <exec_depend>gazebo_ros_pkgs</exec_depend>
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>launch_testing</exec_depend>

diff --git a/nav2_system_tests/src/planning/CMakeLists.txt b/nav2_system_tests/src/planning/CMakeLists.txt
@@ -7,7 +7,7 @@ ament_target_dependencies(test_planner_node
   ${dependencies}
 )
 
-ament_add_test(test_planner_node
+ament_add_test(test_planner
   GENERATE_RESULT_FOR_RETURN_CODE_ZERO
   COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_planner_launch.py"
   WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"