Feat/port upown tests to new gazebo (#4454)

* minor speeling check Signed-off-by: stevedan <[email protected]> * minor changes Signed-off-by: stevedan <[email protected]> * minor changes Signed-off-by: stevedan <[email protected]> --------- Signed-off-by: stevedan <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]>
ros-navigation · Jun 20, 2024 · dd7e1fc · dd7e1fc
1 parent a82090f
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Showing 3 changed files with 7 additions and 8 deletions.
diff --git a/nav2_system_tests/CMakeLists.txt b/nav2_system_tests/CMakeLists.txt
@@ -117,8 +117,8 @@ if(BUILD_TESTING)
   add_subdirectory(src/localization)
   add_subdirectory(src/system)
   add_subdirectory(src/system_failure)
+  add_subdirectory(src/updown)
   # Uncomment after https://github.com/ros-navigation/navigation2/pull/3634
-  # add_subdirectory(src/updown)
   # add_subdirectory(src/waypoint_follower)
   # add_subdirectory(src/gps_navigation)
   # add_subdirectory(src/behaviors/spin)

diff --git a/nav2_system_tests/src/updown/README.md b/nav2_system_tests/src/updown/README.md
@@ -14,7 +14,7 @@ If the test passes, you should see this comment in the output:
 
 To run the test in a loop 1000x, run the `test_updown_reliablity` script and log the output:
 ```
-./test_updown_reliablity |& tee /tmp/updown.log
+./test_updown_reliability |& tee /tmp/updown.log
 ```
 When the test is completed, pipe the log to the `updownresults.py` script to get a summary of the results:
 ```

diff --git a/nav2_system_tests/src/updown/test_updown_launch.py b/nav2_system_tests/src/updown/test_updown_launch.py
@@ -25,11 +25,9 @@
 def generate_launch_description():
 
     # Configuration parameters for the launch
-    launch_dir = os.path.join(get_package_share_directory('nav2_bringup'), 'launch')
+    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
 
-    map_yaml_file = os.path.join(
-        get_package_share_directory('nav2_system_tests'), 'maps/map_circular.yaml'
-    )
+    map_yaml_file = os.path.join(nav2_bringup_dir, 'maps', 'tb3_sandbox.yaml')
 
     # Specify the actions
     start_tf_cmd_1 = Node(
@@ -61,7 +59,8 @@ def generate_launch_description():
     )
 
     nav2_bringup = launch.actions.IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')),
+        PythonLaunchDescriptionSource(
+            os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')),
         launch_arguments={
             'map': map_yaml_file,
             'use_sim_time': 'True',
@@ -77,7 +76,7 @@ def generate_launch_description():
                 'lib/nav2_system_tests/test_updown',
             )
         ],
-        cwd=[launch_dir],
+        cwd=[nav2_bringup_dir],
         output='screen',
     )