Call gz sim directly without shell=True for a clean exit

Signed-off-by: Addisu Z. Taddese <[email protected]>
ros-navigation · Jun 20, 2024 · 4d09eeb · 4d09eeb
1 parent 9057456
commit 4d09eeb
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Showing 2 changed files with 9 additions and 22 deletions.
diff --git a/nav2_system_tests/src/localization/test_localization_launch.py b/nav2_system_tests/src/localization/test_localization_launch.py
@@ -27,14 +27,11 @@
 import launch_ros.actions
 from launch_testing.legacy import LaunchTestService
 
-from nav2_simple_commander.utils import kill_os_processes
-
 
 def main(argv=sys.argv[1:]):
     testExecutable = os.getenv('TEST_EXECUTABLE')
     sim_dir = get_package_share_directory('nav2_minimal_tb3_sim')
     nav2_bringup_dir = get_package_share_directory('nav2_bringup')
-    ros_gz_sim_dir = get_package_share_directory('ros_gz_sim')
 
     world_sdf_xacro = os.path.join(sim_dir, 'worlds', 'tb3_sandbox.sdf.xacro')
     robot_sdf = os.path.join(sim_dir, 'urdf', 'gz_waffle.sdf')
@@ -53,12 +50,10 @@ def main(argv=sys.argv[1:]):
         str(Path(os.path.join(sim_dir)).parent.resolve())
     )
 
-    start_gazebo_server = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(ros_gz_sim_dir, 'launch', 'gz_sim.launch.py')
-        ),
-        launch_arguments={'gz_args': ['-r -s ', world_sdf_xacro]}.items(),
-    )
+    start_gazebo_server = ExecuteProcess(
+        cmd=['gz', 'sim', '-r', '-s', world_sdf_xacro],
+        output='screen',
+    ),
 
     spawn_robot = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
@@ -122,9 +117,7 @@ def main(argv=sys.argv[1:]):
     lts.add_test_action(ld, test1_action)
     ls = LaunchService(argv=argv)
     ls.include_launch_description(ld)
-    return_code = lts.run(ls)
-    kill_os_processes('gz sim')
-    return return_code
+    return lts.run(ls)
 
 
 if __name__ == '__main__':

diff --git a/nav2_system_tests/src/system/test_system_launch.py b/nav2_system_tests/src/system/test_system_launch.py
@@ -35,13 +35,11 @@
 from launch_testing.legacy import LaunchTestService
 
 from nav2_common.launch import RewrittenYaml
-from nav2_simple_commander.utils import kill_os_processes
 
 
 def generate_launch_description():
     sim_dir = get_package_share_directory('nav2_minimal_tb3_sim')
     nav2_bringup_dir = get_package_share_directory('nav2_bringup')
-    ros_gz_sim_dir = get_package_share_directory('ros_gz_sim')
 
     world_sdf_xacro = os.path.join(sim_dir, 'worlds', 'tb3_sandbox.sdf.xacro')
     robot_sdf = os.path.join(sim_dir, 'urdf', 'gz_waffle.sdf')
@@ -97,11 +95,9 @@ def generate_launch_description():
                 'GZ_SIM_RESOURCE_PATH',
                 str(Path(os.path.join(sim_dir)).parent.resolve())
             ),
-            IncludeLaunchDescription(
-                PythonLaunchDescriptionSource(
-                    os.path.join(ros_gz_sim_dir, 'launch', 'gz_sim.launch.py')
-                ),
-                launch_arguments={'gz_args': ['-r -s ', world_sdf_xacro]}.items(),
+            ExecuteProcess(
+                cmd=['gz', 'sim', '-r', '-s', world_sdf_xacro],
+                output='screen',
             ),
             IncludeLaunchDescription(
                 PythonLaunchDescriptionSource(
@@ -168,9 +164,7 @@ def main(argv=sys.argv[1:]):
     lts.add_test_action(ld, test1_action)
     ls = LaunchService(argv=argv)
     ls.include_launch_description(ld)
-    return_code = lts.run(ls)
-    kill_os_processes('gz sim')
-    return return_code
+    return lts.run(ls)
 
 
 if __name__ == '__main__':