Testing...

Signed-off-by: Jakub Delicat <[email protected]>
husarion · Jan 4, 2024 · bc76b8f · bc76b8f
1 parent 7ea5045
commit bc76b8f
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Showing 10 changed files with 12 additions and 564 deletions.
diff --git a/rosbot_gazebo/launch/simulation.launch.py b/rosbot_gazebo/launch/simulation.launch.py
@@ -64,7 +64,7 @@ def generate_launch_description():
         [
             "'--headless-rendering -s -v 4 -r' if ",
             headless,
-            " else '-r'",
+            " else '-r -v 4 '",
         ]
     )
     gz_args = [headless_cfg, " ", world_cfg]

diff --git a/rosbot_gazebo/package.xml b/rosbot_gazebo/package.xml
@@ -28,9 +28,14 @@
   <exec_depend>ign_ros2_control</exec_depend>
 
   <test_depend>python3-pytest</test_depend>
+  <test_depend>python3-psutil</test_depend>
   <test_depend>launch</test_depend>
   <test_depend>launch_ros</test_depend>
   <test_depend>launch_pytest</test_depend>
+  <test_depend>husarion_office_gz</test_depend>
+  <test_depend>ros_gz_sim</test_depend>
+  <test_depend>ros_gz_bridge</test_depend>
+  <test_depend>ign_ros2_control</test_depend>
 
   <test_depend>tf_transformations</test_depend>
   <test_depend>python-transforms3d-pip</test_depend>

diff --git a/rosbot_gazebo/test/test_diff_drive_simulation.py b/rosbot_gazebo/test/test_diff_drive_simulation.py
@@ -25,7 +25,6 @@
 from launch.substitutions import PathJoinSubstitution
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_testing.actions import ReadyToTest
-from launch_testing.util import KeepAliveProc
 
 from test_utils import SimulationTestNode
 from test_ign_kill_utils import kill_ign_linux_processes
@@ -63,7 +62,6 @@ def generate_test_description():
     return LaunchDescription(
         [
             simulation_launch,
-            KeepAliveProc(),
             # Tell launch to start the test
             ReadyToTest(),
         ]
@@ -105,7 +103,9 @@ def test_diff_drive_simulation():
         assert (
             node.controller_odom_flag
         ), "ROSbot does not rotate properly. Check rosbot_base_controller!"
-        assert node.ekf_odom_flag, "ROSbot does not rotate properly. Check ekf_filter_node!"
+        assert (
+            node.ekf_odom_flag
+        ), "ROSbot does not rotate properly. Check ekf_filter_node!"
 
         flag = node.scan_event.wait(timeout=20.0)
         assert flag, "ROSbot's lidar does not work properly!"

diff --git a/rosbot_gazebo/test/test_flake8.py b/rosbot_gazebo/test/test_flake8.py
diff --git a/rosbot_gazebo/test/test_mecanum_simulation.py b/rosbot_gazebo/test/test_mecanum_simulation.py
@@ -25,7 +25,6 @@
 from launch.substitutions import PathJoinSubstitution
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_testing.actions import ReadyToTest
-from launch_testing.util import KeepAliveProc
 
 from test_utils import SimulationTestNode
 from test_ign_kill_utils import kill_ign_linux_processes
@@ -64,7 +63,6 @@ def generate_test_description():
     return LaunchDescription(
         [
             simulation_launch,
-            KeepAliveProc(),
             # Tell launch to start the test
             ReadyToTest(),
         ]
@@ -118,7 +116,9 @@ def test_mecanum_simulation():
         assert (
             node.controller_odom_flag
         ), "ROSbot does not rotate properly. Check rosbot_base_controller!"
-        assert node.ekf_odom_flag, "ROSbot does not rotate properly. Check ekf_filter_node!"
+        assert (
+            node.ekf_odom_flag
+        ), "ROSbot does not rotate properly. Check ekf_filter_node!"
 
         flag = node.scan_event.wait(timeout=20.0)
         assert flag, "ROSbot's lidar does not work properly!"

diff --git a/rosbot_gazebo/test/test_multirobot_diff_drive_simulation.py b/rosbot_gazebo/test/test_multirobot_diff_drive_simulation.py
diff --git a/rosbot_gazebo/test/test_multirobot_mecanum_simulation.py b/rosbot_gazebo/test/test_multirobot_mecanum_simulation.py