Fix build job failure due to missing dependency (#10)

inorbit-ai · Jun 29, 2021 · f0781a0 · f0781a0
1 parent d10ca24
commit f0781a0
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Showing 3 changed files with 20 additions and 22 deletions.
diff --git a/massrobotics_amr_sender_py/massrobotics_amr_sender/__init__.py b/massrobotics_amr_sender_py/massrobotics_amr_sender/__init__.py
@@ -32,6 +32,7 @@
 import asyncio
 from time import sleep
 from datetime import datetime
+from datetime import timezone
 from concurrent.futures import ThreadPoolExecutor
 from pathlib import Path
 from functools import partial
@@ -57,7 +58,9 @@
 
 
 def timestamp_to_isoformat(timestamp):
-    return datetime.fromtimestamp(timestamp).replace(microsecond=0).astimezone().isoformat()
+    return datetime.fromtimestamp(
+        timestamp,
+        tz=timezone.utc).replace(microsecond=0).isoformat()
 
 
 class MassRoboticsAMRInteropNode(Node):

diff --git a/massrobotics_amr_sender_py/package.xml b/massrobotics_amr_sender_py/package.xml
@@ -8,27 +8,22 @@
   <license>3-Clause BSD License</license>
 
   <exec_depend>python3-websockets</exec_depend>
+  <!-- kdl is used for processing Twist messages -->
+  <exec_depend>tf2_kdl</exec_depend>
   <exec_depend>python3-pykdl</exec_depend>
   <exec_depend>rclpy</exec_depend>
-  <exec_depend>tf2</exec_depend>
-  <exec_depend>tf2_bullet</exec_depend>
-  <exec_depend>tf2_eigen</exec_depend>
-  <exec_depend>tf2_eigen_kdl</exec_depend>
-  <exec_depend>tf2_geometry_msgs</exec_depend>
-  <exec_depend>tf2_kdl</exec_depend>
-  <exec_depend>tf2_msgs</exec_depend>
-  <exec_depend>tf2_py</exec_depend>
-  <exec_depend>tf2_ros</exec_depend>
-  <exec_depend>tf2_sensor_msgs</exec_depend>
-  <exec_depend>tf2_tools</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>
+  <!-- common_interfaces for nav_msgs -->
+  <test_depend>common_interfaces</test_depend>
+  <test_depend>python3-jsonschema</test_depend>
   <test_depend>python3-mock</test_depend>
-  <test_depend>python3-pytest</test_depend>
   <test_depend>python3-pep8</test_depend>
-  <test_depend>python3-jsonschema</test_depend>
+  <test_depend>python3-pytest</test_depend>
+  <test_depend>python3-pytest-mock</test_depend>
+  <test_depend>python3-yaml</test_depend>
 
   <export>
     <build_type>ament_python</build_type>

diff --git a/massrobotics_amr_sender_py/test/test_mass_interop.py b/massrobotics_amr_sender_py/test/test_mass_interop.py
@@ -251,25 +251,25 @@ def test_massrobotics_amr_node_init():
         'property': 'destinations',
         'value': [
             {
-                'timestamp': '2021-06-22T19:40:48-03:00',
+                'timestamp': '2021-06-22T22:40:48+00:00',
                 'x': 42, 'y': 4, 'z': 2,
                 'angle': {'w': 0.1, 'x': -1.0, 'y': 9.0, 'z': -3.0},
                 'planarDatum': '6ec7a6d0-21a9-4f04-b680-e7c640a0687e'
             },
             {
-                'timestamp': '2021-06-22T19:56:38-03:00',
+                'timestamp': '2021-06-22T22:56:38+00:00',
                 'x': 4, 'y': 4, 'z': 2,
                 'angle': {'w': 0.1, 'x': -1.0, 'y': 1.0, 'z': -3.0},
                 'planarDatum': '6ec7a6d0-21a9-4f04-b680-e7c640a0687e'
             },
             {
-                'timestamp': '2021-06-22T20:06:08-03:00',
+                'timestamp': '2021-06-22T23:06:08+00:00',
                 'x': 12, 'y': 4, 'z': 2,
                 'angle': {'w': 0.4, 'x': -1.0, 'y': 9.0, 'z': -3.0},
                 'planarDatum': '6ec7a6d0-21a9-4f04-b680-e7c640a0687e'
             },
             {
-                'timestamp': '2021-06-22T20:36:38-03:00',
+                'timestamp': '2021-06-22T23:36:38+00:00',
                 'x': 0, 'y': 4, 'z': 2,
                 'angle': {'w': 0.1, 'x': -1.0, 'y': 9.0, 'z': -3.0},
                 'planarDatum': '096522ad-61fa-4796-9b31-e35b0f8d0b26'
@@ -315,25 +315,25 @@ def test_massrobotics_amr_node_init():
         'property': 'path',
         'value': [
             {
-                'timestamp': '2021-06-22T19:40:48-03:00',
+                'timestamp': '2021-06-22T22:40:48+00:00',
                 'x': 42, 'y': 4, 'z': 2,
                 'angle': {'w': 0.1, 'x': -1.0, 'y': 9.0, 'z': -3.0},
                 'planarDatum': '6ec7a6d0-21a9-4f04-b680-e7c640a0687e'
             },
             {
-                'timestamp': '2021-06-22T19:56:38-03:00',
+                'timestamp': '2021-06-22T22:56:38+00:00',
                 'x': 4, 'y': 4, 'z': 2,
                 'angle': {'w': 0.1, 'x': -1.0, 'y': 1.0, 'z': -3.0},
                 'planarDatum': '6ec7a6d0-21a9-4f04-b680-e7c640a0687e'
             },
             {
-                'timestamp': '2021-06-22T20:06:08-03:00',
+                'timestamp': '2021-06-22T23:06:08+00:00',
                 'x': 12, 'y': 4, 'z': 2,
                 'angle': {'w': 0.4, 'x': -1.0, 'y': 9.0, 'z': -3.0},
                 'planarDatum': '6ec7a6d0-21a9-4f04-b680-e7c640a0687e'
             },
             {
-                'timestamp': '2021-06-22T20:36:38-03:00',
+                'timestamp': '2021-06-22T23:36:38+00:00',
                 'x': 0, 'y': 4, 'z': 2,
                 'angle': {'w': 0.1, 'x': -1.0, 'y': 9.0, 'z': -3.0},
                 'planarDatum': '096522ad-61fa-4796-9b31-e35b0f8d0b26'