Fix integration test

Signed-off-by: Luca Della Vedova <[email protected]>

nexus_integration_tests/launch/office.launch.xml

@@ -1,7 +1,7 @@
 <?xml version='1.0' ?>
 
 <launch>
-  <arg name="headless" default="false"/>
+  <arg name="headless" default="true"/>
   <arg name="use_simulator" default="true"/>
   <arg name="sim_update_rate" default='100'/>
 

nexus_integration_tests/test_parallel_wo.py

@@ -38,7 +38,7 @@ async def asyncSetUp(self):
         subprocess.Popen('pkill -9 -f zenoh', shell=True)
 
         self.proc = managed_process(
-            ("ros2", "launch", "nexus_integration_tests", "office.launch.xml"),
+            ("ros2", "launch", "nexus_integration_tests", "office.launch.xml", "sim_update_rate:=10000"),
         )
         self.proc.__enter__()
         print("waiting for nodes to be ready...", file=sys.stderr)

nexus_integration_tests/test_pick_and_place.py

@@ -40,7 +40,7 @@ async def asyncSetUp(self):
         subprocess.Popen('pkill -9 -f zenoh', shell=True)
 
         self.proc = managed_process(
-            ("ros2", "launch", "nexus_integration_tests", "office.launch.xml"),
+            ("ros2", "launch", "nexus_integration_tests", "office.launch.xml", "sim_update_rate:=10000"),
         )
         self.proc.__enter__()
         print("waiting for nodes to be ready...", file=sys.stderr)
@@ -90,8 +90,9 @@ def on_fb(msg):
         #   high load so we only check the last feedback as a workaround.
         self.assertGreater(len(feedbacks), 0)
         for msg in feedbacks:
-            self.assertEqual(len(msg.task_states), 1)
-            state: TaskState = msg.task_states[0]  # type: ignore
+            # The first task is transportation
+            self.assertEqual(len(msg.task_states), 2)
+            state: TaskState = msg.task_states[1]  # type: ignore
             self.assertEqual(state.workcell_id, "workcell_2")
             self.assertEqual(state.task_id, "1")