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Run tests sequentially and enforce tests in ROS 2 #28024

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merged 3 commits into from
Sep 6, 2024
Merged

Run tests sequentially and enforce tests in ROS 2 #28024

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351bb65
.github: Run colcon-test sequentially and test all AP packages
Ryanf55 Sep 5, 2024
4d98221
Tools: ros2: Reformat
Ryanf55 Sep 5, 2024
8bdc7ab
.git-blame: Ignore reformat in ROS2
Ryanf55 Sep 5, 2024
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3 changes: 3 additions & 0 deletions .git-blame-ignore-revs
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Original file line number Diff line number Diff line change
Expand Up @@ -4,3 +4,6 @@

# Tools: ros2: Run ament_black on all files
85172b56467668bee9fa0e68081027b13bc18c4a

# Tools: ros2: Reformat
4d9822131354dc7dc3351f24660969f58720a1de
2 changes: 1 addition & 1 deletion .github/workflows/colcon.yml
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Expand Up @@ -198,7 +198,7 @@ jobs:
shell: 'bash'
run: |
source install/setup.bash
colcon test --packages-select ardupilot_dds_tests --event-handlers=console_cohesion+
colcon test --executor sequential --parallel-workers 0 --base-paths src/ardupilot --event-handlers=console_cohesion+
- name: Report colcon test results
run: |
colcon test-result --all --verbose
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2 changes: 1 addition & 1 deletion Tools/ros2/ardupilot_dds_tests/ardupilot_dds_tests/plane_waypoint_follower.py
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Expand Up @@ -144,7 +144,7 @@ def achieved_goal(goal_global_pos, cur_geopose):
p2 = (cur_pos.latitude, cur_pos.longitude, cur_pos.altitude)

flat_distance = distance.distance(p1[:2], p2[:2]).m
euclidian_distance = math.sqrt(flat_distance**2 + (p2[2] - p1[2]) ** 2)
euclidian_distance = math.sqrt(flat_distance ** 2 + (p2[2] - p1[2]) ** 2)
print(f"Goal is {euclidian_distance} meters away")
return euclidian_distance < 150

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11 changes: 3 additions & 8 deletions Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py
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Expand Up @@ -35,6 +35,7 @@
FALSE_STRING = "False"
BOOL_STRING_CHOICES = set([TRUE_STRING, FALSE_STRING])


class VirtualPortsLaunch:
"""Launch functions for creating virtual ports using `socat`."""

Expand Down Expand Up @@ -369,16 +370,10 @@ def generate_launch_arguments() -> List[DeclareLaunchArgument]:
description="SITL output port.",
),
DeclareLaunchArgument(
"map",
default_value="False",
description="Enable MAVProxy Map.",
choices=BOOL_STRING_CHOICES
"map", default_value="False", description="Enable MAVProxy Map.", choices=BOOL_STRING_CHOICES
),
DeclareLaunchArgument(
"console",
default_value="False",
description="Enable MAVProxy Console.",
choices=BOOL_STRING_CHOICES
"console", default_value="False", description="Enable MAVProxy Console.", choices=BOOL_STRING_CHOICES
),
]

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