Fix CI with BT test from btv4.X API update (ros-navigation#4452)

* fix CI with BT test from btv4.X API update * Update test_bt_utils.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]>
ajtudela · Jun 21, 2024 · 3d48c4d · 3d48c4d
1 parent 351fe0a
commit 3d48c4d
Showing 1 changed file with 6 additions and 49 deletions.
diff --git a/nav2_behavior_tree/test/test_bt_utils.cpp b/nav2_behavior_tree/test/test_bt_utils.cpp
@@ -59,13 +59,7 @@ TEST(PointPortTest, test_wrong_syntax)
 
   BT::BehaviorTreeFactory factory;
   factory.registerNodeType<TestNode<geometry_msgs::msg::Point>>("PointPort");
-  auto tree = factory.createTreeFromText(xml_txt);
-
-  geometry_msgs::msg::Point value;
-  tree.rootNode()->getInput("test", value);
-  EXPECT_EQ(value.x, 0.0);
-  EXPECT_EQ(value.y, 0.0);
-  EXPECT_EQ(value.z, 0.0);
+  EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
 
   xml_txt =
     R"(
@@ -75,11 +69,7 @@ TEST(PointPortTest, test_wrong_syntax)
         </BehaviorTree>
       </root>)";
 
-  tree = factory.createTreeFromText(xml_txt);
-  tree.rootNode()->getInput("test", value);
-  EXPECT_EQ(value.x, 0.0);
-  EXPECT_EQ(value.y, 0.0);
-  EXPECT_EQ(value.z, 0.0);
+  EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
 }
 
 TEST(PointPortTest, test_correct_syntax)
@@ -115,14 +105,8 @@ TEST(QuaternionPortTest, test_wrong_syntax)
 
   BT::BehaviorTreeFactory factory;
   factory.registerNodeType<TestNode<geometry_msgs::msg::Quaternion>>("QuaternionPort");
-  auto tree = factory.createTreeFromText(xml_txt);
 
-  geometry_msgs::msg::Quaternion value;
-  tree.rootNode()->getInput("test", value);
-  EXPECT_EQ(value.x, 0.0);
-  EXPECT_EQ(value.y, 0.0);
-  EXPECT_EQ(value.z, 0.0);
-  EXPECT_EQ(value.w, 1.0);
+  EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
 
   xml_txt =
     R"(
@@ -132,12 +116,7 @@ TEST(QuaternionPortTest, test_wrong_syntax)
         </BehaviorTree>
       </root>)";
 
-  tree = factory.createTreeFromText(xml_txt);
-  tree.rootNode()->getInput("test", value);
-  EXPECT_EQ(value.x, 0.0);
-  EXPECT_EQ(value.y, 0.0);
-  EXPECT_EQ(value.z, 0.0);
-  EXPECT_EQ(value.w, 1.0);
+  EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
 }
 
 TEST(QuaternionPortTest, test_correct_syntax)
@@ -174,19 +153,7 @@ TEST(PoseStampedPortTest, test_wrong_syntax)
 
   BT::BehaviorTreeFactory factory;
   factory.registerNodeType<TestNode<geometry_msgs::msg::PoseStamped>>("PoseStampedPort");
-  auto tree = factory.createTreeFromText(xml_txt);
-
-  geometry_msgs::msg::PoseStamped value;
-  tree.rootNode()->getInput("test", value);
-  EXPECT_EQ(rclcpp::Time(value.header.stamp).nanoseconds(), 0);
-  EXPECT_EQ(value.header.frame_id, "");
-  EXPECT_EQ(value.pose.position.x, 0.0);
-  EXPECT_EQ(value.pose.position.y, 0.0);
-  EXPECT_EQ(value.pose.position.z, 0.0);
-  EXPECT_EQ(value.pose.orientation.x, 0.0);
-  EXPECT_EQ(value.pose.orientation.y, 0.0);
-  EXPECT_EQ(value.pose.orientation.z, 0.0);
-  EXPECT_EQ(value.pose.orientation.w, 1.0);
+  EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
 
   xml_txt =
     R"(
@@ -196,17 +163,7 @@ TEST(PoseStampedPortTest, test_wrong_syntax)
         </BehaviorTree>
       </root>)";
 
-  tree = factory.createTreeFromText(xml_txt);
-  tree.rootNode()->getInput("test", value);
-  EXPECT_EQ(rclcpp::Time(value.header.stamp).nanoseconds(), 0);
-  EXPECT_EQ(value.header.frame_id, "");
-  EXPECT_EQ(value.pose.position.x, 0.0);
-  EXPECT_EQ(value.pose.position.y, 0.0);
-  EXPECT_EQ(value.pose.position.z, 0.0);
-  EXPECT_EQ(value.pose.orientation.x, 0.0);
-  EXPECT_EQ(value.pose.orientation.y, 0.0);
-  EXPECT_EQ(value.pose.orientation.z, 0.0);
-  EXPECT_EQ(value.pose.orientation.w, 1.0);
+  EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
 }
 
 TEST(PoseStampedPortTest, test_correct_syntax)