diff --git a/nav2_system_tests/src/system/tester_node.py b/nav2_system_tests/src/system/tester_node.py index c38eea96ba46c693a2a2db3d936f3c49135d87d7..2b0610b364708a96e0c2e3a985e9afbaf9a8d9e1 100755 --- a/nav2_system_tests/src/system/tester_node.py +++ b/nav2_system_tests/src/system/tester_node.py @@ -19,20 +19,20 @@ import sys import time from typing import Optional +from action_msgs.msg import GoalStatus from geometry_msgs.msg import Pose from geometry_msgs.msg import PoseStamped from geometry_msgs.msg import PoseWithCovarianceStamped from lifecycle_msgs.srv import GetState -from nav2_msgs.srv import ManageLifecycleNodes from nav2_msgs.action import NavigateToPose -from action_msgs.msg import GoalStatus +from nav2_msgs.srv import ManageLifecycleNodes import rclpy +from rclpy.action import ActionClient from rclpy.node import Node from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy, QoSReliabilityPolicy from rclpy.qos import QoSProfile -from rclpy.action import ActionClient class NavTester(Node): @@ -170,7 +170,7 @@ class NavTester(Node): def shutdown(self): self.info_msg('Shutting down') - transition_service = "lifecycle_manager/manage_nodes" + transition_service = 'lifecycle_manager/manage_nodes' mgr_client = self.create_client(ManageLifecycleNodes, transition_service) while not mgr_client.wait_for_service(timeout_sec=1.0): self.info_msg(transition_service + ' service not available, waiting...') @@ -218,7 +218,7 @@ def run_all_tests(robot_tester): if (result): robot_tester.wait_for_node_active('bt_navigator') if (result): - result = robot_tester.runNavigateAction(); + result = robot_tester.runNavigateAction() # TODO(orduno) Test sending the navigation request through the topic interface. # Need to update tester to receive multiple goal poses.