Re-re-enable servo tests.

[vatanaksoytezer]

Ongoing attempt to see what is going with the tests and fixing it

[codecov]

Codecov Report

Merging #423 (549c732) into main (fc6e6fe) will increase coverage by 0.27%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##             main     #423      +/-   ##
==========================================
+ Coverage   51.72%   51.98%   +0.27%     
==========================================
  Files         220      223       +3     
  Lines       23167    23342     +175     
==========================================
+ Hits        11981    12133     +152     
- Misses      11186    11209      +23     

Impacted Files	Coverage Δ
...meterization/work_space/pose_model_state_space.cpp	80.51% <0.00%> (-0.62%)	⬇️
...servo/include/moveit_servo/make_shared_from_pool.h	100.00% <0.00%> (ø)
moveit_ros/moveit_servo/src/pose_tracking.cpp	76.48% <0.00%> (ø)
.../moveit_servo/include/moveit_servo/pose_tracking.h	100.00% <0.00%> (ø)
moveit_ros/moveit_servo/src/servo_calcs.cpp	64.25% <0.00%> (+2.61%)	⬆️
moveit_ros/moveit_servo/src/servo.cpp	70.97% <0.00%> (+12.91%)	⬆️

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[vatanaksoytezer]

After debugging with @JafarAbdi we traced the bug (for the enforceVelLimits function) to appear after #408. We don't exactly now what is causing this behaviour but we might want to check it out.

[vatanaksoytezer]

Also flakiness seems to be something from run_test.py of colcon not being able to verify the result of the tests. Test itself passes but verification fails so it seems to be failing

[AndyZe]

I just started noticing warnings like this. Might be relevant here. Fixed by putting a .0 after the number in the yaml file --

parameter 'moveit_servo.lower_singularity_threshold' has invalid type: expected [double] got [integer]

[AndyZe]

There's a chance this moveit_resources PR will fix the issue: moveit/moveit_resources#63

[AndyZe]

@vatanaksoytezer I think it would be really great if you started a new PR for your port of joint_limits handling (porting this MoveIt1 PR)

[vatanaksoytezer]

@AndyZe I will open up a PR for this tomorrow (monday), I was working on porting moveit2_tutorials to github actions, and didn't have time to complete this on Friday.

[vatanaksoytezer]

@AndyZe @tylerjw @JafarAbdi I think I found the source of the flakiness. It seems we are starting google test before, we are starting the ros nodes, which causes comm problems sometimes and creates flakiness. I've observed this in three tests (singularity, pose_tracking and interface) which were the ones that are flaky. For eg. https://github.com/ros-planning/moveit2/blob/main/moveit_ros/moveit_servo/test/test_servo_interface.cpp#L225-L226 here, order of the lines 225 and 226 should be vice versa. See if this makes sense, and I am including these in this pr

[vatanaksoytezer]

I also disabled servo calcs test for now since @JafarAbdi and I traced it back to #408 .

[vatanaksoytezer]

https://github.com/ros-planning/moveit2/actions/runs/764040882 seems to fail again :/