Completely rewritten spin, backup, and drive on heading tests to remo…

…ve flakiness (ros-navigation#4515)

* port backup behavior to new gazebo

Signed-off-by: stevedan <[email protected]>

* port drive on heading behavior to new gazebo

Signed-off-by: stevedan <[email protected]>

* completely rewritten spin test

* lint

* complete flaky test rewrite

---------

Signed-off-by: stevedan <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Co-authored-by: stevedan <[email protected]>

nav2_system_tests/CMakeLists.txt

@@ -120,8 +120,8 @@ if(BUILD_TESTING)
   # add_subdirectory(src/gps_navigation)
   add_subdirectory(src/behaviors/wait)
   add_subdirectory(src/behaviors/spin)
-  # add_subdirectory(src/behaviors/backup)
-  # add_subdirectory(src/behaviors/drive_on_heading)
+  add_subdirectory(src/behaviors/backup)
+  add_subdirectory(src/behaviors/drive_on_heading)
   add_subdirectory(src/behaviors/assisted_teleop)
   add_subdirectory(src/costmap_filters)
   add_subdirectory(src/error_codes)

nav2_system_tests/src/behaviors/backup/CMakeLists.txt

@@ -1,23 +1,8 @@
-set(test_backup_behavior test_backup_behavior_node)
-
-ament_add_gtest_executable(${test_backup_behavior}
-  test_backup_behavior_node.cpp
-  backup_behavior_tester.cpp
-)
-
-ament_target_dependencies(${test_backup_behavior}
-  ${dependencies}
-)
-
-ament_add_test(test_backup_recovery
+ament_add_test(test_backup_behavior
   GENERATE_RESULT_FOR_RETURN_CODE_ZERO
-  COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_backup_behavior_launch.py"
+  COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_backup_behavior.launch.py"
   WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
-  TIMEOUT 180
+  TIMEOUT 60
   ENV
-    TEST_MAP=${PROJECT_SOURCE_DIR}/maps/map_circular.yaml
-    TEST_EXECUTABLE=$<TARGET_FILE:${test_backup_behavior}>
-    TEST_WORLD=${PROJECT_SOURCE_DIR}/worlds/turtlebot3_ros2_demo.world
-    GAZEBO_MODEL_PATH=${PROJECT_SOURCE_DIR}/models
-    BT_NAVIGATOR_XML=navigate_to_pose_w_replanning_and_recovery.xml
+    TEST_DIR=${CMAKE_CURRENT_SOURCE_DIR}
 )