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Move to nexus_integration_tests instead
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
1 parent 08bc9d2 commit 3452bf7

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-135
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-135
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‎.github/workflows/nexus_integration_tests.yaml‎

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@@ -27,6 +27,7 @@ jobs:
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- name: vcs
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run: |
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vcs import . < abb.repos
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vcs import . < rmf.repos
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- name: rosdep
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run: |
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apt update

‎nexus_demos/CMakeLists.txt‎

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‎nexus_demos/package.xml‎

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‎nexus_integration_tests/CMakeLists.txt‎

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@@ -115,7 +115,7 @@ add_custom_target(generate_zenoh_bridge_configs ALL
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COMMAND ros2 run nexus_network_configuration nexus_network_configuration -n ${nexus_network_cfg_path} -o ${zenoh_cfg_output_dir}
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)
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install(DIRECTORY launch config rviz scripts DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY launch config rviz scripts maps/ DESTINATION share/${PROJECT_NAME})
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# Install the zenoh config directory containing generated configs.
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message("zenoh_cfg_output_dir: " ${zenoh_cfg_output_dir})
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install(DIRECTORY ${zenoh_cfg_output_dir} DESTINATION share/${PROJECT_NAME}/config/)
@@ -176,4 +176,79 @@ if(BUILD_TESTING)
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endif()
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endif()
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# Taken from rmf_demos_maps
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file(GLOB_RECURSE traffic_editor_paths "maps/*.building.yaml")
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foreach(path ${traffic_editor_paths})
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# Get the output world name
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string(REGEX REPLACE "\\.[^.]*\.[^.]*$" "" no_extension_path ${path})
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string(REGEX MATCH "[^\/]+$" world_name ${no_extension_path})
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set(map_path ${path})
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set(output_world_name ${world_name})
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set(output_dir ${CMAKE_CURRENT_BINARY_DIR}/maps/${output_world_name})
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set(output_world_path ${output_dir}/${output_world_name}.world)
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set(output_model_dir ${output_dir}/models)
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##############################################################################
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# Generate Gz world and download Models
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##############################################################################
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message("BUILDING WORLDFILE WITH COMMAND: ros2 run rmf_building_map_tools building_map_generator gazebo ${map_path} ${output_world_path} ${output_model_dir}")
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if (NO_DOWNLOAD_MODELS)
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add_custom_command(
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DEPENDS ${map_path}
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COMMAND ros2 run rmf_building_map_tools building_map_generator gazebo ${map_path} ${output_world_path} ${output_model_dir}
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OUTPUT ${output_world_path}
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)
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else()
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message("DOWNLOADING MODELS WITH COMMAND: ros2 run rmf_building_map_tools building_map_model_downloader ${map_path}")
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add_custom_command(
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DEPENDS ${map_path}
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COMMAND ros2 run rmf_building_map_tools building_map_generator gazebo ${map_path} ${output_world_path} ${output_model_dir}
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COMMAND ros2 run rmf_building_map_tools building_map_model_downloader ${map_path} -e ~/.gazebo/models
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OUTPUT ${output_world_path}
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)
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endif()
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##############################################################################
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# generate the navmesh and required files for crowd simulation for gz
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##############################################################################
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set(crowd_sim_config_resource ${output_dir}/config_resource/)
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add_custom_command(
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OUTPUT ${world_name}_crowdsim
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COMMAND ros2 run rmf_building_map_tools building_crowdsim ${map_path} ${crowd_sim_config_resource} ${output_world_path}
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DEPENDS ${output_world_path}
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)
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# This will initiate both custom commands: ${output_world_path} and ${world_name}_crowdsim
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add_custom_target(generate_${world_name}_crowdsim ALL
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DEPENDS ${world_name}_crowdsim
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)
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##############################################################################
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# Generate the nav graphs
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##############################################################################
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set(output_nav_graphs_dir ${output_dir}/nav_graphs/)
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set(output_nav_graphs_phony ${output_nav_graphs_dir}/phony)
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add_custom_command(
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OUTPUT ${output_nav_graphs_phony}
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COMMAND ros2 run rmf_building_map_tools building_map_generator nav ${map_path} ${output_nav_graphs_dir}
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DEPENDS ${map_path}
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)
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add_custom_target(generate_${output_world_name}_nav_graphs ALL
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DEPENDS ${output_nav_graphs_phony}
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)
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install(
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DIRECTORY ${output_dir}
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DESTINATION share/${PROJECT_NAME}/maps
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)
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endforeach()
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ament_package()

nexus_demos/config/office/tinyRobot_config.yaml renamed to nexus_integration_tests/config/office/tinyRobot_config.yaml

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nexus_demos/launch/common.launch.xml renamed to nexus_integration_tests/launch/common.launch.xml

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nexus_demos/launch/include/office/office.rviz renamed to nexus_integration_tests/launch/include/office/office.rviz

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nexus_demos/launch/office.launch.xml renamed to nexus_integration_tests/launch/office.launch.xml

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@@ -9,30 +9,22 @@
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<include file="$(find-pkg-share rmf_demos)/common.launch.xml">
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<arg name="headless" value="$(var headless)" />
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<arg name="use_sim_time" value="$(var use_simulator)"/>
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<arg name="viz_config_file" value ="$(find-pkg-share nexus_demos)/include/office/office.rviz"/>
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<arg name="config_file" value="$(find-pkg-share nexus_demos)/office/office.building.yaml"/>
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<arg name="viz_config_file" value ="$(find-pkg-share nexus_integration_tests)/launch/include/office/office.rviz"/>
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<arg name="config_file" value="$(find-pkg-share nexus_integration_tests)/office/office.building.yaml"/>
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</include>
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<!-- Nexus Common launch -->
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<include file="$(find-pkg-share nexus_demos)/common.launch.xml">
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<include file="$(find-pkg-share nexus_integration_tests)/launch/common.launch.xml">
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<arg name="headless" value="$(var headless)" />
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<arg name="use_sim_time" value="$(var use_simulator)"/>
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</include>
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<!-- Bringup from integration tests -->
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<!-- TODO(luca) should we move the integration launch here instead? -->
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<include file="$(find-pkg-share nexus_integration_tests)/launch/launch.py">
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<!-- Set as true to make it auto bringup and remove all the extra rviz launches -->
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<arg name="headless" value="true" />
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<arg name="use_sim_time" value="$(var use_simulator)"/>
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</include>
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<!-- TinyRobot fleet adapter -->
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<group>
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<include file="$(find-pkg-share rmf_demos_fleet_adapter)/launch/fleet_adapter.launch.xml">
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<arg name="use_sim_time" value="$(var use_simulator)"/>
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<arg name="nav_graph_file" value="$(find-pkg-share nexus_demos)/maps/office/nav_graphs/0.yaml" />
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<arg name="config_file" value="$(find-pkg-share nexus_demos)/config/office/tinyRobot_config.yaml"/>
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<arg name="nav_graph_file" value="$(find-pkg-share nexus_integration_tests)/maps/office/nav_graphs/0.yaml" />
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<arg name="config_file" value="$(find-pkg-share nexus_integration_tests)/config/office/tinyRobot_config.yaml"/>
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</include>
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</group>
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<arg name="sim_update_rate" value="$(var sim_update_rate)"/>
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</include>
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<!-- Bringup from integration tests -->
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<!-- TODO(luca) should we move the integration launch here instead? -->
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<include file="$(find-pkg-share nexus_integration_tests)/launch/launch.py">
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<!-- Set as true to make it auto bringup and remove all the extra rviz launches -->
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<arg name="headless" value="true" />
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<arg name="use_sim_time" value="$(var use_simulator)"/>
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</include>
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</launch>

nexus_demos/maps/office/office.building.yaml renamed to nexus_integration_tests/maps/office/office.building.yaml

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nexus_demos/maps/office/office.png renamed to nexus_integration_tests/maps/office/office.png

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