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Tony NajjarHovorunB
Tony Najjar
and
HovorunB
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Amrfm 1234 system test (ros-navigation#236)
* initial commit * many changes * increase costmap dim * fix executegoal goal * add camera server to test * format * [AMRFM-1318] Initial commit * fixes * remove other tests * Revert "Merge branch 'task_AMRFM-1318_make_nav2_navigator_current_goal_private' into AMRFM-1234-system-test" This reverts commit 980db3ef3630fdc7d271da76659fc17df848d145, reversing changes made to 1eec061f7bbafbbf473e0fd301c210b939f934ad. * remove readme * add amr_id * fix PR comments * refactoring * fix timeout Co-authored-by: HovorunB <[email protected]>
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7 files changed

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‎amr_bringup/launch/camera_server_bringup.launch.py‎

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condition=IfCondition(LaunchConfiguration("use_path_manager")),
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),
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ExecuteProcess(
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cmd=[
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"python3",
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"-m",
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"lv.navigation.costmap.costmap_to_ros_bridge",
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],
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cmd=["python3", "-m", "lv.navigation.costmap.costmap_to_ros_bridge",],
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cwd=deep_cv_dir,
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output="screen",
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name="costmap_to_ros_bridge",

‎amr_system_tests/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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project(amr_system_tests)
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find_package(ament_cmake REQUIRED)
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find_package(nav2_common REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(nav2_util REQUIRED)
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find_package(nav2_map_server REQUIRED)
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find_package(nav2_msgs REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(visualization_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(tf2_geometry_msgs REQUIRED)
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find_package(gazebo_ros_pkgs REQUIRED)
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find_package(nav2_lifecycle_manager REQUIRED)
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find_package(rclpy REQUIRED)
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find_package(nav2_navfn_planner REQUIRED)
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find_package(nav2_planner REQUIRED)
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find_package(navigation2)
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find_package(angles REQUIRED)
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nav2_package()
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set(dependencies
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rclcpp
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nav2_util
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nav2_map_server
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nav2_msgs
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nav_msgs
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visualization_msgs
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nav2_lifecycle_manager
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gazebo_ros_pkgs
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geometry_msgs
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std_msgs
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tf2_geometry_msgs
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rclpy
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nav2_planner
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nav2_navfn_planner
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angles
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)
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if(BUILD_TESTING)
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#find_package(ament_lint_auto REQUIRED)
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#ament_lint_auto_find_test_dependencies()
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#find_package(ament_cmake_gtest REQUIRED)
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#find_package(ament_cmake_pytest REQUIRED)
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add_subdirectory(src/system)
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endif()
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ament_package()

‎amr_system_tests/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>amr_system_tests</name>
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<version>0.4.7</version>
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<description>TODO</description>
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<maintainer email="[email protected]">Carlos Orduno</maintainer>
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<license>Apache-2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<build_depend>nav2_common</build_depend>
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<build_depend>rclcpp</build_depend>
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<build_depend>rclpy</build_depend>
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<build_depend>nav2_util</build_depend>
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<build_depend>nav2_map_server</build_depend>
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<build_depend>nav2_msgs</build_depend>
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<build_depend>nav2_lifecycle_manager</build_depend>
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<build_depend>nav2_navfn_planner</build_depend>
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<build_depend>nav_msgs</build_depend>
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<build_depend>visualization_msgs</build_depend>
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<build_depend>launch_ros</build_depend>
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<build_depend>launch_testing</build_depend>
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<build_depend>geometry_msgs</build_depend>
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<build_depend>std_msgs</build_depend>
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<build_depend>tf2_geometry_msgs</build_depend>
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<build_depend>gazebo_ros_pkgs</build_depend>
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<build_depend>launch_ros</build_depend>
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<build_depend>launch_testing</build_depend>
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<build_depend>nav2_planner</build_depend>
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<exec_depend>launch_ros</exec_depend>
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<exec_depend>launch_testing</exec_depend>
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<exec_depend>rclcpp</exec_depend>
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<exec_depend>rclpy</exec_depend>
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<exec_depend>nav2_bringup</exec_depend>
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<exec_depend>nav2_util</exec_depend>
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<exec_depend>nav2_map_server</exec_depend>
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<exec_depend>nav2_msgs</exec_depend>
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<exec_depend>nav2_lifecycle_manager</exec_depend>
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<exec_depend>nav2_navfn_planner</exec_depend>
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<exec_depend>nav_msgs</exec_depend>
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<exec_depend>visualization_msgs</exec_depend>
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<exec_depend>geometry_msgs</exec_depend>
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<exec_depend>std_msgs</exec_depend>
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<exec_depend>tf2_geometry_msgs</exec_depend>
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<exec_depend>gazebo_ros_pkgs</exec_depend>
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<exec_depend>navigation2</exec_depend>
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<exec_depend>lcov</exec_depend>
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<exec_depend>robot_state_publisher</exec_depend>
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<exec_depend>nav2_planner</exec_depend>
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<test_depend>ament_lint_common</test_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_cmake_gtest</test_depend>
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<test_depend>ament_cmake_pytest</test_depend>
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<test_depend>launch</test_depend>
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<test_depend>launch_ros</test_depend>
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<test_depend>launch_testing</test_depend>
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<test_depend>python3-zmq</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎amr_system_tests/src/system/CMakeLists.txt‎

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ament_add_test(test_amr_gazebo_simulation
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GENERATE_RESULT_FOR_RETURN_CODE_ZERO
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COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_system_launch.py"
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WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
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TIMEOUT 180
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)

‎amr_system_tests/src/system/README.md‎

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# AMR System Tests
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This is a 'top level' system test which will use Gazebo to simulate a Robot moving from an known initial starting position to a goal pose.

‎amr_system_tests/src/system/test_system_launch.py‎

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#!/usr/bin/env python3
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# Copyright (c) 2018 Intel Corporation
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# Copyright (c) 2020 Florian Gramss
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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import sys
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch import LaunchService
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from launch.actions import (
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ExecuteProcess,
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IncludeLaunchDescription,
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SetEnvironmentVariable,
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)
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_testing.legacy import LaunchTestService
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def generate_launch_description():
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bringup_dir = get_package_share_directory("amr_bringup")
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return LaunchDescription(
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[
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SetEnvironmentVariable("RCUTILS_LOGGING_USE_STDOUT", "1"),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(bringup_dir, "launch/camera_server_bringup.launch.py")
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)
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),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(bringup_dir, "launch/amr_simulation_gazebo.launch.py")
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),
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launch_arguments={"gui": "false", "amr_id": "2"}.items(),
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),
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]
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)
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def main(argv=sys.argv[1:]):
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ld = generate_launch_description()
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test1_action = ExecuteProcess(
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cmd=["./tester_node.py", "--namespace=agv2"],
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cwd=os.path.dirname(os.path.realpath(__file__)),
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name="tester_node",
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output="screen",
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)
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lts = LaunchTestService()
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lts.add_test_action(ld, test1_action)
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ls = LaunchService(argv=argv)
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ls.include_launch_description(ld)
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return lts.run(ls)
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if __name__ == "__main__":
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sys.exit(main())

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