diff --git a/nav2_system_tests/src/planning/planner_tester.cpp b/nav2_system_tests/src/planning/planner_tester.cpp index 5c7732b1fc5fdb8cc1de8fbab6bad7ae1422ebc3..2c753b3d37b6b83f4281397d5b5c0a8e95ffb1a1 100644 --- a/nav2_system_tests/src/planning/planner_tester.cpp +++ b/nav2_system_tests/src/planning/planner_tester.cpp @@ -61,6 +61,9 @@ void PlannerTester::activate() executor_.remove_node(this->get_node_base_interface()); }); + // We start with a 10x10 grid with no obstacles + loadSimpleCostmap(TestCostmap::open_space); + startRobotTransform(); // The navfn wrapper @@ -72,9 +75,6 @@ void PlannerTester::activate() // For visualization, we'll publish the map map_pub_ = this->create_publisher<nav_msgs::msg::OccupancyGrid>("map"); - - // We start with a 10x10 grid with no obstacles - loadSimpleCostmap(TestCostmap::open_space); } void PlannerTester::deactivate() diff --git a/nav2_system_tests/src/planning/test_planner_costmaps_node.cpp b/nav2_system_tests/src/planning/test_planner_costmaps_node.cpp index f989766fe8785249fe87cb6485d42d667b5c7901..6d43a1c58c561272d97c93d2e4ea9ec53c9a074b 100644 --- a/nav2_system_tests/src/planning/test_planner_costmaps_node.cpp +++ b/nav2_system_tests/src/planning/test_planner_costmaps_node.cpp @@ -40,6 +40,8 @@ RclCppFixture g_rclcppfixture; TEST_F(PlannerTester, testSimpleCostmaps) { + activate(); + std::vector<TestCostmap> costmaps = { TestCostmap::open_space, TestCostmap::bounded, diff --git a/nav2_system_tests/src/planning/test_planner_random_node.cpp b/nav2_system_tests/src/planning/test_planner_random_node.cpp index a119bc01ba37bc17da5f4c91daabd14bbe7f80a8..615892b0cf1776a24b9a6ebf72949d50653abff4 100644 --- a/nav2_system_tests/src/planning/test_planner_random_node.cpp +++ b/nav2_system_tests/src/planning/test_planner_random_node.cpp @@ -40,6 +40,7 @@ RclCppFixture g_rclcppfixture; TEST_F(PlannerTester, testWithHundredRandomEndPoints) { + activate(); loadDefaultMap(); EXPECT_EQ(true, defaultPlannerRandomTests(100, 0.1)); }