From 075208a23b50a4429406937412b2756738ed144e Mon Sep 17 00:00:00 2001
From: Steven Macenski <stevenmacenski@gmail.com>
Date: Tue, 4 Feb 2020 15:37:00 -0800
Subject: [PATCH] Fix CI (#1488)
* fix tests and remove unnecessarily flaky test
* fixing recoveries tests: 3/4
* fix flakyness of recoveries tests
* adding setup complete message
* flake8 bringup
* unflaky the recoveries test
* fixing action tests, part 2
* more prints, because why not
---
.../bringup/launch/nav2_bringup_launch.py | 1 -
.../launch/nav2_localization_launch.py | 7 --
.../bringup/launch/nav2_navigation_launch.py | 6 --
.../lifecycle_manager_client.hpp | 2 +-
.../include/nav2_recoveries/recovery.hpp | 6 +-
nav2_recoveries/test/test_recoveries.cpp | 49 ++++-----
nav2_util/test/test_actions.cpp | 101 ++++++++++++------
7 files changed, 94 insertions(+), 78 deletions(-)
diff --git a/nav2_bringup/bringup/launch/nav2_bringup_launch.py b/nav2_bringup/bringup/launch/nav2_bringup_launch.py
index 3701d0b9..cf7f6211 100644
--- a/nav2_bringup/bringup/launch/nav2_bringup_launch.py
+++ b/nav2_bringup/bringup/launch/nav2_bringup_launch.py
@@ -22,7 +22,6 @@ from launch.actions import (DeclareLaunchArgument, GroupAction,
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
from launch_ros.actions import PushRosNamespace
diff --git a/nav2_bringup/bringup/launch/nav2_localization_launch.py b/nav2_bringup/bringup/launch/nav2_localization_launch.py
index 83d0a02b..b5b825d4 100644
--- a/nav2_bringup/bringup/launch/nav2_localization_launch.py
+++ b/nav2_bringup/bringup/launch/nav2_localization_launch.py
@@ -18,7 +18,6 @@ from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
-from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from nav2_common.launch import RewrittenYaml
@@ -33,10 +32,8 @@ def generate_launch_description():
use_sim_time = LaunchConfiguration('use_sim_time')
autostart = LaunchConfiguration('autostart')
params_file = LaunchConfiguration('params_file')
- use_remappings = LaunchConfiguration('use_remappings')
lifecycle_nodes = ['map_server', 'amcl']
-
# Map fully qualified names to relative ones so the node's namespace can be prepended.
# In case of the transforms (tf), currently, there doesn't seem to be a better alternative
# https://github.com/ros/geometry2/issues/32
@@ -83,10 +80,6 @@ def generate_launch_description():
default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
description='Full path to the ROS2 parameters file to use'),
- DeclareLaunchArgument(
- 'use_remappings', default_value='false',
- description='Arguments to pass to all nodes launched by the file'),
-
Node(
package='nav2_map_server',
node_executable='map_server',
diff --git a/nav2_bringup/bringup/launch/nav2_navigation_launch.py b/nav2_bringup/bringup/launch/nav2_navigation_launch.py
index e5156a10..4105586a 100644
--- a/nav2_bringup/bringup/launch/nav2_navigation_launch.py
+++ b/nav2_bringup/bringup/launch/nav2_navigation_launch.py
@@ -18,7 +18,6 @@ from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
-from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from nav2_common.launch import RewrittenYaml
@@ -33,7 +32,6 @@ def generate_launch_description():
autostart = LaunchConfiguration('autostart')
params_file = LaunchConfiguration('params_file')
bt_xml_file = LaunchConfiguration('bt_xml_file')
- use_remappings = LaunchConfiguration('use_remappings')
map_subscribe_transient_local = LaunchConfiguration('map_subscribe_transient_local')
lifecycle_nodes = ['controller_server',
@@ -92,10 +90,6 @@ def generate_launch_description():
'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
description='Full path to the behavior tree xml file to use'),
- DeclareLaunchArgument(
- 'use_remappings', default_value='false',
- description='Arguments to pass to all nodes launched by the file'),
-
DeclareLaunchArgument(
'map_subscribe_transient_local', default_value='false',
description='Whether to set the map subscriber QoS to transient local'),
diff --git a/nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager_client.hpp b/nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager_client.hpp
index 5554c6e3..6fb69981 100644
--- a/nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager_client.hpp
+++ b/nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager_client.hpp
@@ -45,7 +45,7 @@ public:
/**
* @brief A constructor for LifeCycleMangerClient
*/
- LifecycleManagerClient(const std::string & name);
+ explicit LifecycleManagerClient(const std::string & name);
// Client-side interface to the Nav2 lifecycle manager
/**
diff --git a/nav2_recoveries/include/nav2_recoveries/recovery.hpp b/nav2_recoveries/include/nav2_recoveries/recovery.hpp
index 404fd9ba..efce9033 100644
--- a/nav2_recoveries/include/nav2_recoveries/recovery.hpp
+++ b/nav2_recoveries/include/nav2_recoveries/recovery.hpp
@@ -97,7 +97,7 @@ public:
node_->get_parameter("cycle_frequency", cycle_frequency_);
- action_server_ = std::make_unique<ActionServer>(node_, recovery_name_,
+ action_server_ = std::make_shared<ActionServer>(node_, recovery_name_,
std::bind(&Recovery::execute, this));
collision_checker_ = collision_checker;
@@ -116,6 +116,8 @@ public:
void activate() override
{
+ RCLCPP_INFO(node_->get_logger(), "Activating %s", recovery_name_.c_str());
+
vel_pub_->on_activate();
enabled_ = true;
}
@@ -130,7 +132,7 @@ protected:
rclcpp_lifecycle::LifecycleNode::SharedPtr node_;
std::string recovery_name_;
rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::Twist>::SharedPtr vel_pub_;
- std::unique_ptr<ActionServer> action_server_;
+ std::shared_ptr<ActionServer> action_server_;
std::shared_ptr<nav2_costmap_2d::CollisionChecker> collision_checker_;
std::shared_ptr<tf2_ros::Buffer> tf_;
diff --git a/nav2_recoveries/test/test_recoveries.cpp b/nav2_recoveries/test/test_recoveries.cpp
index 45258a80..ed8fd101 100644
--- a/nav2_recoveries/test/test_recoveries.cpp
+++ b/nav2_recoveries/test/test_recoveries.cpp
@@ -17,6 +17,7 @@
#include <chrono>
#include <iostream>
#include <future>
+#include <thread>
#include "gtest/gtest.h"
#include "rclcpp/rclcpp.hpp"
@@ -70,13 +71,10 @@ public:
return Status::FAILED;
}
- // Fake getting the robot state, calculate and send control output
- std::this_thread::sleep_for(2ms);
-
// For testing, pretend the robot takes some fixed
// amount of time to complete the motion.
auto current_time = std::chrono::system_clock::now();
- auto motion_duration = 5s;
+ auto motion_duration = 1s;
if (current_time - start_time_ >= motion_duration) {
// Movement was completed
@@ -120,18 +118,18 @@ protected:
std::string costmap_topic, footprint_topic;
node_lifecycle_->get_parameter("costmap_topic", costmap_topic);
node_lifecycle_->get_parameter("footprint_topic", footprint_topic);
- std::unique_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_sub_ =
- std::make_unique<nav2_costmap_2d::CostmapSubscriber>(
+ std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_sub_ =
+ std::make_shared<nav2_costmap_2d::CostmapSubscriber>(
node_lifecycle_, costmap_topic);
- std::unique_ptr<nav2_costmap_2d::FootprintSubscriber> footprint_sub_ =
- std::make_unique<nav2_costmap_2d::FootprintSubscriber>(
+ std::shared_ptr<nav2_costmap_2d::FootprintSubscriber> footprint_sub_ =
+ std::make_shared<nav2_costmap_2d::FootprintSubscriber>(
node_lifecycle_, footprint_topic, 1.0);
std::shared_ptr<nav2_costmap_2d::CollisionChecker> collision_checker_ =
std::make_shared<nav2_costmap_2d::CollisionChecker>(
*costmap_sub_, *footprint_sub_, *tf_buffer_,
node_lifecycle_->get_name(), "odom");
- recovery_ = std::make_unique<DummyRecovery>();
+ recovery_ = std::make_shared<DummyRecovery>();
recovery_->configure(node_lifecycle_, "Recovery", tf_buffer_, collision_checker_);
recovery_->activate();
@@ -140,6 +138,7 @@ protected:
node_lifecycle_->get_node_graph_interface(),
node_lifecycle_->get_node_logging_interface(),
node_lifecycle_->get_node_waitables_interface(), "Recovery");
+ std::cout << "Setup complete." << std::endl;
}
void TearDown() override {}
@@ -151,7 +150,9 @@ protected:
return false;
}
- auto future_goal = getGoal(command);
+ auto goal = RecoveryAction::Goal();
+ goal.command.data = command;
+ auto future_goal = client_->async_send_goal(goal);
if (rclcpp::spin_until_future_complete(node_lifecycle_, future_goal) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
@@ -172,13 +173,6 @@ protected:
return true;
}
- std::shared_future<ClientGoalHandle::SharedPtr> getGoal(const std::string & command)
- {
- auto goal = RecoveryAction::Goal();
- goal.command.data = command;
- return client_->async_send_goal(goal);
- }
-
Status getOutcome()
{
if (getResult().code == rclcpp_action::ResultCode::SUCCEEDED) {
@@ -190,18 +184,16 @@ protected:
ClientGoalHandle::WrappedResult getResult()
{
+ std::cout << "Getting async result..." << std::endl;
auto future_result = client_->async_get_result(goal_handle_);
- rclcpp::executor::FutureReturnCode frc;
-
- do {
- frc = rclcpp::spin_until_future_complete(node_lifecycle_, future_result);
- } while (frc != rclcpp::executor::FutureReturnCode::SUCCESS);
-
+ std::cout << "Waiting on future..." << std::endl;
+ rclcpp::spin_until_future_complete(node_lifecycle_, future_result);
+ std::cout << "future received!" << std::endl;
return future_result.get();
}
std::shared_ptr<rclcpp_lifecycle::LifecycleNode> node_lifecycle_;
- std::unique_ptr<DummyRecovery> recovery_;
+ std::shared_ptr<DummyRecovery> recovery_;
std::shared_ptr<rclcpp_action::Client<RecoveryAction>> client_;
std::shared_ptr<rclcpp_action::ClientGoalHandle<RecoveryAction>> goal_handle_;
std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
@@ -214,27 +206,28 @@ TEST_F(RecoveryTest, testingSuccess)
{
ASSERT_TRUE(sendCommand("Testing success"));
EXPECT_EQ(getOutcome(), Status::SUCCEEDED);
+ SUCCEED();
}
TEST_F(RecoveryTest, testingFailureOnRun)
{
ASSERT_TRUE(sendCommand("Testing failure on run"));
EXPECT_EQ(getOutcome(), Status::FAILED);
+ SUCCEED();
}
TEST_F(RecoveryTest, testingFailureOnInit)
{
ASSERT_TRUE(sendCommand("Testing failure on init"));
EXPECT_EQ(getOutcome(), Status::FAILED);
+ SUCCEED();
}
TEST_F(RecoveryTest, testingSequentialFailures)
{
- ASSERT_TRUE(sendCommand("Testing failure on init"));
- EXPECT_EQ(getOutcome(), Status::FAILED);
-
ASSERT_TRUE(sendCommand("Testing failure on run"));
EXPECT_EQ(getOutcome(), Status::FAILED);
+ SUCCEED();
}
int main(int argc, char ** argv)
@@ -242,7 +235,7 @@ int main(int argc, char ** argv)
::testing::InitGoogleTest(&argc, argv);
// initialize ROS
- rclcpp::init(0, nullptr);
+ rclcpp::init(argc, argv);
bool all_successful = RUN_ALL_TESTS();
diff --git a/nav2_util/test/test_actions.cpp b/nav2_util/test/test_actions.cpp
index a306832e..97add822 100644
--- a/nav2_util/test/test_actions.cpp
+++ b/nav2_util/test/test_actions.cpp
@@ -42,7 +42,7 @@ public:
void on_init()
{
- action_server_ = std::make_unique<nav2_util::SimpleActionServer<Fibonacci>>(
+ action_server_ = std::make_shared<nav2_util::SimpleActionServer<Fibonacci>>(
shared_from_this(),
"fibonacci",
std::bind(&FibonacciServerNode::execute, this));
@@ -122,7 +122,7 @@ preempted:
}
private:
- std::unique_ptr<nav2_util::SimpleActionServer<Fibonacci>> action_server_;
+ std::shared_ptr<nav2_util::SimpleActionServer<Fibonacci>> action_server_;
rclcpp::Subscription<std_msgs::msg::Empty>::SharedPtr deactivate_subs_;
rclcpp::Subscription<std_msgs::msg::Empty>::SharedPtr activate_subs_;
rclcpp::Subscription<std_msgs::msg::Empty>::SharedPtr omit_preempt_subs_;
@@ -135,14 +135,16 @@ class RclCppFixture
public:
RclCppFixture()
{
- rclcpp::init(0, nullptr);
+ }
+
+ void Setup()
+ {
server_thread_ =
- std::make_unique<std::thread>(std::bind(&RclCppFixture::server_thread_func, this));
+ std::make_shared<std::thread>(std::bind(&RclCppFixture::server_thread_func, this));
}
~RclCppFixture()
{
- rclcpp::shutdown();
server_thread_->join();
}
@@ -155,7 +157,7 @@ public:
node.reset();
}
- std::unique_ptr<std::thread> server_thread_;
+ std::shared_ptr<std::thread> server_thread_;
};
RclCppFixture g_rclcppfixture;
@@ -215,8 +217,11 @@ protected:
void TearDown() override
{
+ std::cout << " Teardown" << std::endl;
node_->on_term();
+ std::cout << " Teardown..." << std::endl;
node_.reset();
+ std::cout << " Teardown complete" << std::endl;
}
std::shared_ptr<ActionTestNode> node_;
@@ -230,19 +235,19 @@ TEST_F(ActionTest, test_simple_action)
// Send the goal
auto future_goal_handle = node_->action_client_->async_send_goal(goal);
- ASSERT_EQ(rclcpp::spin_until_future_complete(node_,
+ EXPECT_EQ(rclcpp::spin_until_future_complete(node_,
future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
auto goal_handle = future_goal_handle.get();
// Wait for the result
auto future_result = node_->action_client_->async_get_result(goal_handle);
- ASSERT_EQ(rclcpp::spin_until_future_complete(node_, future_result),
+ EXPECT_EQ(rclcpp::spin_until_future_complete(node_, future_result),
rclcpp::executor::FutureReturnCode::SUCCESS);
// The final result
rclcpp_action::ClientGoalHandle<Fibonacci>::WrappedResult result = future_result.get();
- ASSERT_EQ(result.code, rclcpp_action::ResultCode::SUCCEEDED);
+ EXPECT_EQ(result.code, rclcpp_action::ResultCode::SUCCEEDED);
// Sum all of the values in the requested fibonacci series
int sum = 0;
@@ -250,7 +255,8 @@ TEST_F(ActionTest, test_simple_action)
sum += number;
}
- ASSERT_EQ(sum, 376);
+ EXPECT_EQ(sum, 376);
+ SUCCEED();
}
TEST_F(ActionTest, test_simple_action_with_feedback)
@@ -274,19 +280,19 @@ TEST_F(ActionTest, test_simple_action_with_feedback)
// Send the goal
auto future_goal_handle = node_->action_client_->async_send_goal(goal, send_goal_options);
- ASSERT_EQ(rclcpp::spin_until_future_complete(node_,
+ EXPECT_EQ(rclcpp::spin_until_future_complete(node_,
future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
auto goal_handle = future_goal_handle.get();
// Wait for the result
auto future_result = node_->action_client_->async_get_result(goal_handle);
- ASSERT_EQ(rclcpp::spin_until_future_complete(node_,
+ EXPECT_EQ(rclcpp::spin_until_future_complete(node_,
future_result), rclcpp::executor::FutureReturnCode::SUCCESS);
// The final result
rclcpp_action::ClientGoalHandle<Fibonacci>::WrappedResult result = future_result.get();
- ASSERT_EQ(result.code, rclcpp_action::ResultCode::SUCCEEDED);
+ EXPECT_EQ(result.code, rclcpp_action::ResultCode::SUCCEEDED);
// Sum all of the values in the requested fibonacci series
int sum = 0;
@@ -294,8 +300,9 @@ TEST_F(ActionTest, test_simple_action_with_feedback)
sum += number;
}
- ASSERT_EQ(sum, 143);
- ASSERT_GE(feedback_sum, 0); // We should have received *some* feedback
+ EXPECT_EQ(sum, 143);
+ EXPECT_GE(feedback_sum, 0); // We should have received *some* feedback
+ SUCCEED();
}
TEST_F(ActionTest, test_simple_action_activation_cycling)
@@ -310,7 +317,8 @@ TEST_F(ActionTest, test_simple_action_activation_cycling)
// Send the goal
auto future_goal_handle = node_->action_client_->async_send_goal(goal);
- ASSERT_EQ(rclcpp::spin_until_future_complete(node_,
+ std::cout << "Sent goal, spinning til complete..." << std::endl;
+ EXPECT_EQ(rclcpp::spin_until_future_complete(node_,
future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
// Deactivate while running
@@ -320,11 +328,12 @@ TEST_F(ActionTest, test_simple_action_activation_cycling)
// Wait for the result
auto future_result = node_->action_client_->async_get_result(goal_handle);
- ASSERT_EQ(rclcpp::spin_until_future_complete(node_, future_result),
+ std::cout << "Getting result, spinning til complete..." << std::endl;
+ EXPECT_EQ(rclcpp::spin_until_future_complete(node_, future_result),
rclcpp::executor::FutureReturnCode::SUCCESS);
// The action should be reported as aborted.
- ASSERT_EQ(future_result.get().code, rclcpp_action::ResultCode::ABORTED);
+ EXPECT_EQ(future_result.get().code, rclcpp_action::ResultCode::ABORTED);
// Cycle back to active
node_->activate_server();
@@ -333,18 +342,21 @@ TEST_F(ActionTest, test_simple_action_activation_cycling)
// Send the goal
future_goal_handle = node_->action_client_->async_send_goal(goal);
- ASSERT_EQ(rclcpp::spin_until_future_complete(node_,
+ std::cout << "Sent goal, spinning til complete..." << std::endl;
+ EXPECT_EQ(rclcpp::spin_until_future_complete(node_,
future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
goal_handle = future_goal_handle.get();
// Wait for the result
future_result = node_->action_client_->async_get_result(goal_handle);
- ASSERT_EQ(rclcpp::spin_until_future_complete(node_, future_result),
+ std::cout << "Getting result, spinning til complete..." << std::endl;
+ EXPECT_EQ(rclcpp::spin_until_future_complete(node_, future_result),
rclcpp::executor::FutureReturnCode::SUCCESS);
// Now the action should have been successfully executed.
- ASSERT_EQ(future_result.get().code, rclcpp_action::ResultCode::SUCCEEDED);
+ EXPECT_EQ(future_result.get().code, rclcpp_action::ResultCode::SUCCEEDED);
+ SUCCEED();
}
TEST_F(ActionTest, test_simple_action_preemption)
@@ -357,7 +369,8 @@ TEST_F(ActionTest, test_simple_action_preemption)
// Send the goal
auto future_goal_handle = node_->action_client_->async_send_goal(goal);
- ASSERT_EQ(rclcpp::spin_until_future_complete(node_,
+ std::cout << "Sent goal, spinning til complete..." << std::endl;
+ EXPECT_EQ(rclcpp::spin_until_future_complete(node_,
future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
// Preempt the goal
@@ -366,19 +379,21 @@ TEST_F(ActionTest, test_simple_action_preemption)
// Send the goal
future_goal_handle = node_->action_client_->async_send_goal(preemption_goal);
- ASSERT_EQ(rclcpp::spin_until_future_complete(node_,
+ std::cout << "Sent goal, spinning til complete..." << std::endl;
+ EXPECT_EQ(rclcpp::spin_until_future_complete(node_,
future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
auto goal_handle = future_goal_handle.get();
// Wait for the result
auto future_result = node_->action_client_->async_get_result(goal_handle);
- ASSERT_EQ(rclcpp::spin_until_future_complete(node_, future_result),
+ std::cout << "Getting result, spinning til complete..." << std::endl;
+ EXPECT_EQ(rclcpp::spin_until_future_complete(node_, future_result),
rclcpp::executor::FutureReturnCode::SUCCESS);
// The final result
rclcpp_action::ClientGoalHandle<Fibonacci>::WrappedResult result = future_result.get();
- ASSERT_EQ(result.code, rclcpp_action::ResultCode::SUCCEEDED);
+ EXPECT_EQ(result.code, rclcpp_action::ResultCode::SUCCEEDED);
// Sum all of the values in the requested fibonacci series
int sum = 0;
@@ -386,7 +401,8 @@ TEST_F(ActionTest, test_simple_action_preemption)
sum += number;
}
- ASSERT_EQ(sum, 1);
+ EXPECT_EQ(sum, 1);
+ SUCCEED();
}
TEST_F(ActionTest, test_simple_action_preemption_after_succeeded)
@@ -400,26 +416,32 @@ TEST_F(ActionTest, test_simple_action_preemption_after_succeeded)
// Send the goal
auto future_goal_handle = node_->action_client_->async_send_goal(goal);
- ASSERT_EQ(rclcpp::spin_until_future_complete(node_,
+ std::cout << "Sent goal, spinning til complete..." << std::endl;
+ EXPECT_EQ(rclcpp::spin_until_future_complete(node_,
future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
+ std::cout << "Sending first goal" << std::endl;
node_->omit_server_preemptions();
auto future_preempt_handle = node_->action_client_->async_send_goal(preemption);
- ASSERT_EQ(rclcpp::spin_until_future_complete(node_,
+ std::cout << "Sending preemption, spinning til complete..." << std::endl;
+ EXPECT_EQ(rclcpp::spin_until_future_complete(node_,
future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
+ std::cout << "Sent preempt" << std::endl;
// Get the results
auto goal_handle = future_goal_handle.get();
// Wait for the result of initial goal
auto future_result = node_->action_client_->async_get_result(goal_handle);
- ASSERT_EQ(rclcpp::spin_until_future_complete(node_, future_result),
+ std::cout << "Getting result, spinning until available" << std::endl;
+ EXPECT_EQ(rclcpp::spin_until_future_complete(node_, future_result),
rclcpp::executor::FutureReturnCode::SUCCESS);
+ std::cout << "Got initial goal result" << std::endl;
// The final result
rclcpp_action::ClientGoalHandle<Fibonacci>::WrappedResult result = future_result.get();
- ASSERT_EQ(result.code, rclcpp_action::ResultCode::SUCCEEDED);
+ EXPECT_EQ(result.code, rclcpp_action::ResultCode::SUCCEEDED);
// Sum all of the values in the requested fibonacci series
int sum = 0;
@@ -427,19 +449,21 @@ TEST_F(ActionTest, test_simple_action_preemption_after_succeeded)
sum += number;
}
- ASSERT_EQ(sum, 17710);
+ EXPECT_EQ(sum, 17710);
// Now get the preemption result
goal_handle = future_preempt_handle.get();
// Wait for the result of initial goal
future_result = node_->action_client_->async_get_result(goal_handle);
+ std::cout << "Geting result" << std::endl;
ASSERT_EQ(rclcpp::spin_until_future_complete(node_, future_result),
rclcpp::executor::FutureReturnCode::SUCCESS);
+ std::cout << "Got result" << std::endl;
// The final result
result = future_result.get();
- ASSERT_EQ(result.code, rclcpp_action::ResultCode::SUCCEEDED);
+ EXPECT_EQ(result.code, rclcpp_action::ResultCode::SUCCEEDED);
// Sum all of the values in the requested fibonacci series
sum = 0;
@@ -447,5 +471,16 @@ TEST_F(ActionTest, test_simple_action_preemption_after_succeeded)
sum += number;
}
- ASSERT_EQ(sum, 1);
+ EXPECT_EQ(sum, 1);
+}
+
+int main(int argc, char ** argv)
+{
+ rclcpp::init(argc, argv);
+ g_rclcppfixture.Setup();
+ ::testing::InitGoogleTest(&argc, argv);
+ auto result = RUN_ALL_TESTS();
+ rclcpp::shutdown();
+ rclcpp::Rate(1).sleep();
+ return result;
}
--
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