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Reactivate tests for example_15 (backport #546) #593

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merged 1 commit into from
Sep 29, 2024
Merged

Reactivate tests for example_15 (backport #546) #593

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5 changes: 2 additions & 3 deletions example_15/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -28,9 +28,8 @@ install(
if(BUILD_TESTING)
find_package(ament_cmake_pytest REQUIRED)

# TODO(christophfroehlich) deactivated because of bug in spawner
# ament_add_pytest_test(test_rrbot_namespace_launch test/test_rrbot_namespace_launch.py)
# ament_add_pytest_test(test_multi_controller_manager_launch test/test_multi_controller_manager_launch.py)
ament_add_pytest_test(test_rrbot_namespace_launch test/test_rrbot_namespace_launch.py)
ament_add_pytest_test(test_multi_controller_manager_launch test/test_multi_controller_manager_launch.py)

endif()

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11 changes: 1 addition & 10 deletions example_15/bringup/launch/rrbot_base.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -220,20 +220,11 @@ def generate_launch_description():
)
)

# Delay start of joint_state_broadcaster after `robot_controller`
# TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
event_handler=OnProcessExit(
target_action=robot_controller_spawner,
on_exit=[joint_state_broadcaster_spawner],
)
)

nodes = [
control_node,
robot_state_pub_node,
robot_controller_spawner,
delay_joint_state_broadcaster_after_robot_controller_spawner,
joint_state_broadcaster_spawner,
delay_rviz_after_joint_state_broadcaster_spawner,
]

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23 changes: 2 additions & 21 deletions example_15/bringup/launch/rrbot_namespace.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -128,32 +128,13 @@ def generate_launch_description():
)
)

# Delay start of joint_state_broadcaster after `robot_controller`
# TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
event_handler=OnProcessExit(
target_action=robot_forward_position_controller_spawner,
on_exit=[joint_state_broadcaster_spawner],
)
)

# Delay start of robot_controller after `joint_state_broadcaster`
delay_robot_position_trajectory_controller_spawner_after_joint_state_broadcaster_spawner = (
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=joint_state_broadcaster_spawner,
on_exit=[robot_position_trajectory_controller_spawner],
)
)
)

nodes = [
control_node,
robot_state_pub_node,
delay_rviz_after_joint_state_broadcaster_spawner,
robot_forward_position_controller_spawner,
delay_joint_state_broadcaster_after_robot_controller_spawner,
delay_robot_position_trajectory_controller_spawner_after_joint_state_broadcaster_spawner,
joint_state_broadcaster_spawner,
robot_position_trajectory_controller_spawner,
]

return LaunchDescription(declared_arguments + nodes)
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