From e12f7b680af7150cd587757aab29bebffa318ace Mon Sep 17 00:00:00 2001
From: Luca Della Vedova <lucadv@intrinsic.ai>
Date: Fri, 13 Dec 2024 16:27:00 +0800
Subject: [PATCH] Fix integration test

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
---
 nexus_integration_tests/launch/office.launch.xml | 2 +-
 nexus_integration_tests/test_parallel_wo.py      | 2 +-
 nexus_integration_tests/test_pick_and_place.py   | 7 ++++---
 3 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/nexus_integration_tests/launch/office.launch.xml b/nexus_integration_tests/launch/office.launch.xml
index 52cbde6..affb1ab 100644
--- a/nexus_integration_tests/launch/office.launch.xml
+++ b/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'/>
 
diff --git a/nexus_integration_tests/test_parallel_wo.py b/nexus_integration_tests/test_parallel_wo.py
index c5e5d41..cad860f 100644
--- a/nexus_integration_tests/test_parallel_wo.py
+++ b/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)
diff --git a/nexus_integration_tests/test_pick_and_place.py b/nexus_integration_tests/test_pick_and_place.py
index 82fc114..6e51d9c 100644
--- a/nexus_integration_tests/test_pick_and_place.py
+++ b/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")