cleanup

Signed-off-by: stevedan <[email protected]>
ros-navigation · Jun 19, 2024 · cd2e5c3 · cd2e5c3
1 parent b80934c
commit cd2e5c3
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Showing 5 changed files with 15 additions and 8 deletions.
diff --git a/nav2_simple_commander/nav2_simple_commander/utils.py b/nav2_simple_commander/nav2_simple_commander/utils.py
@@ -1,6 +1,4 @@
-"""
-General utility functions
-"""
+"""General utility functions"""
 
 import os
 import signal
@@ -18,7 +16,7 @@ def find_os_processes(name):
             pid = columns[1]
             command = ' '.join(columns[10:])
             if command.startswith(name):
-                gz_sim_processes.append((pid, command))   
+                gz_sim_processes.append((pid, command))
     return gz_sim_processes
 
 

diff --git a/nav2_system_tests/CMakeLists.txt b/nav2_system_tests/CMakeLists.txt
@@ -128,7 +128,7 @@ if(BUILD_TESTING)
   # add_subdirectory(src/behaviors/assisted_teleop)
   # add_subdirectory(src/costmap_filters)
   add_subdirectory(src/error_codes)
-  install(DIRECTORY maps DESTINATION share/${PROJECT_NAME})
+  install(DIRECTORY maps models DESTINATION share/${PROJECT_NAME})
 
 endif()
 

diff --git a/nav2_system_tests/models/cardboard_box.sdf b/nav2_system_tests/models/cardboard_box.sdf
@@ -0,0 +1,9 @@
+<sdf version="1.6">
+     <model name='cardboard_box'>
+      <include>
+      <uri>
+      https://fuel.gazebosim.org/1.0/OpenRobotics/models/Cardboard box
+      </uri>
+      </include>
+    </model>
+</sdf>
diff --git a/nav2_system_tests/src/system/CMakeLists.txt b/nav2_system_tests/src/system/CMakeLists.txt
@@ -76,6 +76,7 @@ ament_add_test(test_nav_through_poses
   TIMEOUT 180
   ENV
     TEST_DIR=${CMAKE_CURRENT_SOURCE_DIR}
+    GZ_SIM_RESOURCE_PATH=${PROJECT_SOURCE_DIR}/models
     ADD_OBSTACLE=True
     BT_NAVIGATOR_XML=navigate_through_poses_w_replanning_and_recovery.xml
     TESTER=nav_through_poses_tester_node.py

diff --git a/nav2_system_tests/src/system/test_system_with_obstacle_launch.py b/nav2_system_tests/src/system/test_system_with_obstacle_launch.py
@@ -39,11 +39,10 @@
 
 
 def generate_launch_description():
-    # map_yaml_file = os.getenv('TEST_MAP')
-    # world = os.getenv('TEST_WORLD')
     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')
+    nav2_system_tests_dir = get_package_share_directory('nav2_system_tests')
 
     world_sdf_xacro = os.path.join(sim_dir, 'worlds', 'tb3_sandbox.sdf.xacro')
     robot_sdf = os.path.join(sim_dir, 'urdf', 'gz_waffle.sdf')
@@ -86,7 +85,7 @@ def generate_launch_description():
 
     new_yaml = configured_params.perform(context)
 
-    cardbox_sdf = os.path.join(sim_dir, 'urdf', 'cardboard_box.sdf')
+    cardbox_sdf = os.path.join(nav2_system_tests_dir, 'models', 'cardboard_box.sdf')
 
     return LaunchDescription(
         [