From e0a78c6919b3b04dc6786e67820ddd54ff443364 Mon Sep 17 00:00:00 2001
From: Matthew Hansen <matthew.k.hansen@intel.com>
Date: Thu, 30 May 2019 11:30:10 -0700
Subject: [PATCH] Fix wait_for_bt_active loop
---
nav2_system_tests/src/system/test_system_node.py | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/nav2_system_tests/src/system/test_system_node.py b/nav2_system_tests/src/system/test_system_node.py
index 246a11ae..8149cd92 100755
--- a/nav2_system_tests/src/system/test_system_node.py
+++ b/nav2_system_tests/src/system/test_system_node.py
@@ -97,16 +97,16 @@ class NavTester(Node):
# wait for the bt_navigator to be in active state
state_client = self.create_client(GetState, '/bt_navigator/get_state')
while not state_client.wait_for_service(timeout_sec=1.0):
- print('bt_navigator/get_state service not available, waiting again...')
+ print('/bt_navigator/get_state service not available, waiting...')
req = GetState.Request() # empty request
- future = state_client.call_async(req)
- state = 'Unknown'
+ state = 'UNKNOWN'
while (state != 'active'):
self.get_logger().info('Getting bt_navigator state...')
+ future = state_client.call_async(req)
rclpy.spin_until_future_complete(self, future)
if future.result() is not None:
- self.get_logger().info('Result of get_state: %s' % future.result().current_state.label)
state = future.result().current_state.label
+ self.get_logger().info('Result of get_state: %s' % state)
else:
self.get_logger().error('Exception while calling service: %r' % future.exception())
time.sleep(5)
--
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