diff --git a/nav2_system_tests/src/updown/test_updown_launch.py b/nav2_system_tests/src/updown/test_updown_launch.py
index a855374c3e60156930c1b12d1e7724c5475db052..8fb222f54ea1a6da8fe3a391d11d6c172118b318 100755
--- a/nav2_system_tests/src/updown/test_updown_launch.py
+++ b/nav2_system_tests/src/updown/test_updown_launch.py
@@ -50,7 +50,8 @@ 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(
@@ -58,7 +59,8 @@ def generate_launch_description():
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(
@@ -66,7 +68,7 @@ def generate_launch_description():
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(
@@ -74,7 +76,7 @@ def generate_launch_description():
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(
@@ -82,7 +84,7 @@ def generate_launch_description():
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(
@@ -90,7 +92,7 @@ def generate_launch_description():
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(
@@ -98,7 +100,7 @@ def generate_launch_description():
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(
@@ -106,7 +108,7 @@ def generate_launch_description():
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(
@@ -114,7 +116,7 @@ def generate_launch_description():
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(
@@ -122,7 +124,7 @@ def generate_launch_description():
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(
diff --git a/nav2_system_tests/src/updown/updownresults.py b/nav2_system_tests/src/updown/updownresults.py
new file mode 100755
index 0000000000000000000000000000000000000000..e8b09964add7d193542b3c58dd48563287026542
--- /dev/null
+++ b/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()