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Enable global planner tester #927

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merged 5 commits into from
Aug 28, 2019
Merged

Enable global planner tester #927

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326d40f
Updating Global Planner Tester to use ROS2 actions.
orduno Jul 2, 2019
f24aead
Rebased, addressed feedback
orduno Aug 20, 2019
6419307
Providing robot pose through transforms
orduno Aug 21, 2019
848d6fa
Increasing the waiting time
orduno Aug 23, 2019
d30c4fb
Increasing more the wait time
orduno Aug 23, 2019
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4 changes: 3 additions & 1 deletion nav2_system_tests/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
Expand All @@ -30,6 +31,7 @@ set(dependencies
gazebo_ros_pkgs
geometry_msgs
std_msgs
tf2_geometry_msgs
rclpy
)

Expand All @@ -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)
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2 changes: 2 additions & 0 deletions nav2_system_tests/package.xml
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Expand Up @@ -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>
Expand All @@ -38,6 +39,7 @@
<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>
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2 changes: 1 addition & 1 deletion nav2_system_tests/src/planning/CMakeLists.txt
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Expand Up @@ -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}"
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