Remove navigate_to_pose from updown test

nav2_system_tests/src/updown/test_updown.cpp

@@ -22,72 +22,6 @@
 
 using namespace std::chrono_literals;
 
-struct xytheta
-{
-  double x;
-  double y;
-  double theta;
-};
-
-void nav_to_poses(const char * nav_type_arg,
-                  nav2_lifecycle_manager::LifecycleManagerClient & client)
-{
-  if (nav_type_arg != nullptr) {
-    std::string nav_type(nav_type_arg);
-
-    // Create a set of target poses across the map
-    std::vector<xytheta> target_poses;
-    target_poses.push_back({-2.0, -0.5, 0});
-    target_poses.push_back({0.94, -0.55, 0});
-    target_poses.push_back({1.7, 0.5, 1.4});
-    target_poses.push_back({0.97, 1.68, 2.94});
-    target_poses.push_back({0.02, 1.74, -2.9});
-
-    xytheta & initial_pose = target_poses[0];
-    // Set the robot's starting pose (approximately where it comes up in gazebo)
-    client.set_initial_pose(initial_pose.x, initial_pose.y, initial_pose.theta);
-
-    if (nav_type == "iterative") {
-      // In the iterative case, navigate through all of the poses (but skip the
-      // first one, which is the initial pose)
-      for (std::vector<xytheta>::size_type i = 1; i < target_poses.size(); i++) {
-        auto pose = target_poses[i];
-        if (!client.navigate_to_pose(pose.x, pose.y, pose.theta)) {
-          RCLCPP_ERROR(rclcpp::get_logger("test_updown"), "Navigation failed!");
-          break;
-        }
-      }
-    } else if (nav_type == "random") {
-      // In the random case, navigate to randomly-selected poses from the target_poses
-      // collection
-
-      // Get set up to generate random indices
-      std::random_device r;
-      std::default_random_engine e1(r());
-      std::uniform_int_distribution<int> uniform_dist(0, target_poses.size() - 1);
-
-      for (int i = 0, cur_index = 0; i < 10; i++) {
-        // Get a random index that is not the current one (so we can navigate
-        // to a pose different than our current location)
-        int next_index = 0;
-        do {
-          next_index = uniform_dist(r);
-        } while (next_index == cur_index);
-
-        // Grab the pose for that index and start the navigation
-        auto pose = target_poses[next_index];
-        if (!client.navigate_to_pose(pose.x, pose.y, pose.theta)) {
-          RCLCPP_ERROR(rclcpp::get_logger("test_updown"), "Navigation failed!");
-          break;
-        }
-      }
-    } else {
-      RCLCPP_ERROR(rclcpp::get_logger("test_updown"),
-        "Unrecognized navigation type: %s, no navigation performed", nav_type);
-    }
-  }
-}
-
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
@@ -120,20 +54,17 @@ int main(int argc, char ** argv)
     RCLCPP_ERROR(rclcpp::get_logger("test_updown"), "System startup failed");
     test_passed = false;
   }
-  else {
-    // Parse the command line options
-    char * nav_type_arg = rcutils_cli_get_option(argv, argv + argc, "-t");
-    nav_to_poses(nav_type_arg, client);
-  }
 
   // Shut down the nav2 system, bringing it to the FINALIZED state
   client.shutdown();
 
   if (test_passed)
   {
-    RCLCPP_INFO(rclcpp::get_logger("test_updown"), "TEST PASSED!");
+    RCLCPP_INFO(rclcpp::get_logger("test_updown"), 
+      "****************************************************  TEST PASSED!");
   } else {
-    RCLCPP_INFO(rclcpp::get_logger("test_updown"), "TEST FAILED!");
+    RCLCPP_INFO(rclcpp::get_logger("test_updown"), 
+      "****************************************************  TEST FAILED!");
   }
   rclcpp::shutdown();
   return 0;