From d5de9267f6d6e7cdd9cdd59dd26ed6bcc43860fd Mon Sep 17 00:00:00 2001
From: Matthew Hansen <matthew.k.hansen@intel.com>
Date: Fri, 31 May 2019 10:10:50 -0700
Subject: [PATCH] Add recovery behaviors to system test
---
nav2_system_tests/src/system/CMakeLists.txt | 2 +-
.../src/system/test_system_launch.py | 20 ++++++++++++-------
2 files changed, 14 insertions(+), 8 deletions(-)
diff --git a/nav2_system_tests/src/system/CMakeLists.txt b/nav2_system_tests/src/system/CMakeLists.txt
index 70276b9d..74bbfac8 100644
--- a/nav2_system_tests/src/system/CMakeLists.txt
+++ b/nav2_system_tests/src/system/CMakeLists.txt
@@ -11,6 +11,6 @@ ament_add_test(test_bt_navigator
TEST_WORLD=${PROJECT_SOURCE_DIR}/worlds/turtlebot3_ros2_demo.world
TEST_PARAMS=${PROJECT_SOURCE_DIR}/params/nav2_params.yaml
GAZEBO_MODEL_PATH=${PROJECT_SOURCE_DIR}/models
- BT_NAVIGATOR_XML=simple_sequential.xml
+ BT_NAVIGATOR_XML=navigate_w_replanning_and_recovery.xml
ASTAR=True
)
diff --git a/nav2_system_tests/src/system/test_system_launch.py b/nav2_system_tests/src/system/test_system_launch.py
index 93d2c64c..8717ac2b 100755
--- a/nav2_system_tests/src/system/test_system_launch.py
+++ b/nav2_system_tests/src/system/test_system_launch.py
@@ -36,12 +36,6 @@ def generate_launch_description():
bt_navigator_xml = os.path.join(bt_navigator_install_path,
'behavior_trees',
os.getenv('BT_NAVIGATOR_XML'))
- navigator_action = launch_ros.actions.Node(
- package='nav2_bt_navigator',
- node_executable='bt_navigator',
- node_name='bt_navigator',
- output='screen',
- parameters=[{'use_sim_time': use_sim_time}, {'bt_xml_filename': bt_navigator_xml}])
return LaunchDescription([
# Launch gazebo server for simulation
@@ -96,7 +90,19 @@ def generate_launch_description():
output='screen',
parameters=[{'use_sim_time': use_sim_time}, {'use_astar': astar}]),
- navigator_action,
+ launch_ros.actions.Node(
+ package='nav2_motion_primitives',
+ node_executable='motion_primitives_node',
+ node_name='motion_primitives',
+ output='screen',
+ parameters=[{'use_sim_time': use_sim_time}]),
+
+ launch_ros.actions.Node(
+ package='nav2_bt_navigator',
+ node_executable='bt_navigator',
+ node_name='bt_navigator',
+ output='screen',
+ parameters=[{'use_sim_time': use_sim_time}, {'bt_xml_filename': bt_navigator_xml}]),
launch_ros.actions.Node(
package='nav2_lifecycle_manager',
--
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