From b572dabc0cee503cf8ddb5f7ee395686e35ed0e9 Mon Sep 17 00:00:00 2001 From: Aaron Chong Date: Wed, 5 Feb 2025 10:48:16 +0800 Subject: [PATCH] Rename nexus_integration_tests to nexus_demos Signed-off-by: Aaron Chong --- .../workflows/nexus_integration_tests.yaml | 4 +- README.md | 6 +-- .../CHANGELOG.rst | 0 .../CMakeLists.txt | 4 +- .../README.md | 36 +++++++++--------- .../config/abb_irb1300_controllers.yaml | 0 .../config/abb_irb1300_planner_params.yaml | 0 .../config/abb_irb910sc_controllers.yaml | 0 .../config/abb_irb910sc_planner_params.yaml | 0 .../config/pick_and_place.json | 0 .../config/pick_from_conveyor.json | 0 .../config/place_on_conveyor.json | 0 .../config/product_detector_config.yaml | 0 .../config/rmf/deliveryRobot_config.yaml | 0 .../config/rmf/maps/depot/depot.building.yaml | 0 .../config/rmf/maps/depot/depot_scan.png | Bin .../config/rmf/maps/depot/depot_template.sdf | 0 .../config/rmf/transportation.xml | 0 .../config/system_bts/main.xml | 0 .../config/system_bts/main_rmf.xml | 0 .../config/system_bts/pick_and_place.xml | 0 .../config/system_bts/pick_and_place_rmf.xml | 0 .../workcell_1_bts/place_on_conveyor.xml | 0 .../workcell_2_bts/pick_from_conveyor.xml | 0 .../config/workcell_task.yaml | 0 .../config/zenoh/nexus_network_config.yaml | 0 .../include/abb_irb1300_moveit.launch.py | 0 .../include/abb_irb910sc_moveit.launch.py | 0 .../launch/include/nexus_control.launch.py | 2 +- .../launch/inter_workcell.launch.py | 12 +++--- .../launch/launch.py | 26 ++++++------- .../launch/rmf_transporter.launch.xml | 12 +++--- .../launch/workcell.launch.py | 20 +++++----- .../launch/workcell_1_tf.launch.py | 0 .../launch/workcell_2_tf.launch.py | 0 .../launch/zenoh_bridge.launch.py | 2 +- .../managed_process.py | 0 .../mock_plugins.xml | 0 .../nexus_test_case.py | 0 .../package.xml | 4 +- .../ros_testcase.py | 0 .../rviz/nexus_panel.rviz | 0 .../rviz/nexus_panel_rmf.rviz | 0 .../scripts/activate_node.py | 0 .../src/mock_detection.cpp | 0 .../src/mock_detection.hpp | 0 .../src/mock_emergency_alarm.cpp | 0 .../src/mock_gripper.cpp | 0 .../src/mock_gripper.hpp | 0 .../src/mock_printer.cpp | 0 .../src/mock_transporter.cpp | 0 .../src/test_mock_detection.cpp | 4 +- .../src/test_mock_gripper.cpp | 0 .../test/main.cpp | 0 .../test_parallel_wo.py | 2 +- .../test_pick_and_place.py | 2 +- .../test_pick_and_place_rmf.py | 2 +- 57 files changed, 69 insertions(+), 69 deletions(-) rename {nexus_integration_tests => nexus_demos}/CHANGELOG.rst (100%) rename {nexus_integration_tests => nexus_demos}/CMakeLists.txt (98%) rename {nexus_integration_tests => nexus_demos}/README.md (61%) rename {nexus_integration_tests => nexus_demos}/config/abb_irb1300_controllers.yaml (100%) rename {nexus_integration_tests => nexus_demos}/config/abb_irb1300_planner_params.yaml (100%) rename {nexus_integration_tests => nexus_demos}/config/abb_irb910sc_controllers.yaml (100%) rename {nexus_integration_tests => nexus_demos}/config/abb_irb910sc_planner_params.yaml (100%) rename {nexus_integration_tests => nexus_demos}/config/pick_and_place.json (100%) rename {nexus_integration_tests => nexus_demos}/config/pick_from_conveyor.json (100%) rename {nexus_integration_tests => nexus_demos}/config/place_on_conveyor.json (100%) rename {nexus_integration_tests => nexus_demos}/config/product_detector_config.yaml (100%) rename {nexus_integration_tests => nexus_demos}/config/rmf/deliveryRobot_config.yaml (100%) rename {nexus_integration_tests => nexus_demos}/config/rmf/maps/depot/depot.building.yaml (100%) rename {nexus_integration_tests => nexus_demos}/config/rmf/maps/depot/depot_scan.png (100%) rename {nexus_integration_tests => nexus_demos}/config/rmf/maps/depot/depot_template.sdf (100%) rename {nexus_integration_tests => nexus_demos}/config/rmf/transportation.xml (100%) rename {nexus_integration_tests => nexus_demos}/config/system_bts/main.xml (100%) rename {nexus_integration_tests => nexus_demos}/config/system_bts/main_rmf.xml (100%) rename {nexus_integration_tests => nexus_demos}/config/system_bts/pick_and_place.xml (100%) rename {nexus_integration_tests => nexus_demos}/config/system_bts/pick_and_place_rmf.xml (100%) rename {nexus_integration_tests => nexus_demos}/config/workcell_1_bts/place_on_conveyor.xml (100%) rename {nexus_integration_tests => nexus_demos}/config/workcell_2_bts/pick_from_conveyor.xml (100%) rename {nexus_integration_tests => nexus_demos}/config/workcell_task.yaml (100%) rename {nexus_integration_tests => nexus_demos}/config/zenoh/nexus_network_config.yaml (100%) rename {nexus_integration_tests => nexus_demos}/launch/include/abb_irb1300_moveit.launch.py (100%) rename {nexus_integration_tests => nexus_demos}/launch/include/abb_irb910sc_moveit.launch.py (100%) rename {nexus_integration_tests => nexus_demos}/launch/include/nexus_control.launch.py (99%) rename {nexus_integration_tests => nexus_demos}/launch/inter_workcell.launch.py (96%) rename {nexus_integration_tests => nexus_demos}/launch/launch.py (91%) rename {nexus_integration_tests => nexus_demos}/launch/rmf_transporter.launch.xml (80%) rename {nexus_integration_tests => nexus_demos}/launch/workcell.launch.py (95%) rename {nexus_integration_tests => nexus_demos}/launch/workcell_1_tf.launch.py (100%) rename {nexus_integration_tests => nexus_demos}/launch/workcell_2_tf.launch.py (100%) rename {nexus_integration_tests => nexus_demos}/launch/zenoh_bridge.launch.py (98%) rename {nexus_integration_tests => nexus_demos}/managed_process.py (100%) rename {nexus_integration_tests => nexus_demos}/mock_plugins.xml (100%) rename {nexus_integration_tests => nexus_demos}/nexus_test_case.py (100%) rename {nexus_integration_tests => nexus_demos}/package.xml (95%) rename {nexus_integration_tests => nexus_demos}/ros_testcase.py (100%) rename {nexus_integration_tests => nexus_demos}/rviz/nexus_panel.rviz (100%) rename {nexus_integration_tests => nexus_demos}/rviz/nexus_panel_rmf.rviz (100%) rename {nexus_integration_tests => nexus_demos}/scripts/activate_node.py (100%) rename {nexus_integration_tests => nexus_demos}/src/mock_detection.cpp (100%) rename {nexus_integration_tests => nexus_demos}/src/mock_detection.hpp (100%) rename {nexus_integration_tests => nexus_demos}/src/mock_emergency_alarm.cpp (100%) rename {nexus_integration_tests => nexus_demos}/src/mock_gripper.cpp (100%) rename {nexus_integration_tests => nexus_demos}/src/mock_gripper.hpp (100%) rename {nexus_integration_tests => nexus_demos}/src/mock_printer.cpp (100%) rename {nexus_integration_tests => nexus_demos}/src/mock_transporter.cpp (100%) rename {nexus_integration_tests => nexus_demos}/src/test_mock_detection.cpp (96%) rename {nexus_integration_tests => nexus_demos}/src/test_mock_gripper.cpp (100%) rename {nexus_integration_tests => nexus_demos}/test/main.cpp (100%) rename {nexus_integration_tests => nexus_demos}/test_parallel_wo.py (98%) rename {nexus_integration_tests => nexus_demos}/test_pick_and_place.py (98%) rename {nexus_integration_tests => nexus_demos}/test_pick_and_place_rmf.py (99%) diff --git a/.github/workflows/nexus_integration_tests.yaml b/.github/workflows/nexus_integration_tests.yaml index 620c45b..a4ad124 100644 --- a/.github/workflows/nexus_integration_tests.yaml +++ b/.github/workflows/nexus_integration_tests.yaml @@ -36,8 +36,8 @@ jobs: rosdep update rosdep install --from-paths . -yir - name: build - run: /ros_entrypoint.sh colcon build --packages-up-to nexus_calibration nexus_gazebo nexus_integration_tests nexus_motion_planner --mixin release lld --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache + run: /ros_entrypoint.sh colcon build --packages-up-to nexus_calibration nexus_gazebo nexus_demos nexus_motion_planner --mixin release lld --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache - name: Test - Unit Tests run: . ./install/setup.bash && RMW_IMPLEMENTATION=rmw_cyclonedds_cpp /ros_entrypoint.sh colcon test --packages-select nexus_motion_planner --event-handlers=console_direct+ - name: Test - Integration Test - run: . ./install/setup.bash && cd nexus_integration_tests && RMW_IMPLEMENTATION=rmw_cyclonedds_cpp /ros_entrypoint.sh python3 -m unittest + run: . ./install/setup.bash && cd nexus_demos && RMW_IMPLEMENTATION=rmw_cyclonedds_cpp /ros_entrypoint.sh python3 -m unittest diff --git a/README.md b/README.md index e3b1f40..7c5e100 100644 --- a/README.md +++ b/README.md @@ -46,7 +46,7 @@ colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release ## Configuration The workcell and system orchestrators rely on behavior trees for orchestration. `NEXUS` provides several BT skills that may be reused for a variety of applications. -See sample BTs for [system_orchestrator](nexus_integration_tests/config/system_orchestrator_bt.xml) and [workcell_orchestrator](nexus_integration_tests/config/workcell_1_bts/place_on_conveyor.xml) for a pick & place application. +See sample BTs for [system_orchestrator](nexus_demos/config/system_orchestrator_bt.xml) and [workcell_orchestrator](nexus_demos/config/workcell_1_bts/place_on_conveyor.xml) for a pick & place application. At present, capabilities are registered as plugins with the `orchestrator` at runtime. We support [these capabilities](./nexus_capabilities/src/capabilities/plugins.xml) out of the bo @@ -61,7 +61,7 @@ A current limitation of this approach is the need to manually update the palette ### Generating Zenoh bridge configurations -The script in `nexus_network_configuration` helps to simplify configuration of Zenoh bridges for multiple machines. The Zenoh bridge files are generated from [NEXUS Network Configuration](nexus_integration_tests/config/zenoh/nexus_network_config.yaml) and [nexus_endpoints.redf.yaml](./nexus_endpoints.redf.yaml). After configuring the [NEXUS Network Configuration](nexus_integration_tests/config/zenoh/nexus_network_config.yaml), you can run `ros2 run nexus_network_configuration nexus_network_configuration -n -r -o ` to generate the Zenoh bridges. +The script in `nexus_network_configuration` helps to simplify configuration of Zenoh bridges for multiple machines. The Zenoh bridge files are generated from [NEXUS Network Configuration](nexus_demos/config/zenoh/nexus_network_config.yaml) and [nexus_endpoints.redf.yaml](./nexus_endpoints.redf.yaml). After configuring the [NEXUS Network Configuration](nexus_demos/config/zenoh/nexus_network_config.yaml), you can run `ros2 run nexus_network_configuration nexus_network_configuration -n -r -o ` to generate the Zenoh bridges. Further detailed instructions on running the Zenoh bridges with said configurations are in the [package README](nexus_network_configuration/README.md) @@ -69,7 +69,7 @@ Further detailed instructions on running the Zenoh bridges with said configurati ![](./docs/media/nexus_demo.png) -Follow instructions [here](nexus_integration_tests/README.md) to run pick and place demonstrations with a line comprising of two workcells that perform different types of tasks. +Follow instructions [here](nexus_demos/README.md) to run pick and place demonstrations with a line comprising of two workcells that perform different types of tasks. TODO: Add a dedicated demo package. diff --git a/nexus_integration_tests/CHANGELOG.rst b/nexus_demos/CHANGELOG.rst similarity index 100% rename from nexus_integration_tests/CHANGELOG.rst rename to nexus_demos/CHANGELOG.rst diff --git a/nexus_integration_tests/CMakeLists.txt b/nexus_demos/CMakeLists.txt similarity index 98% rename from nexus_integration_tests/CMakeLists.txt rename to nexus_demos/CMakeLists.txt index e8c1518..73e7447 100644 --- a/nexus_integration_tests/CMakeLists.txt +++ b/nexus_demos/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.16) -set(PROJECT_NAME nexus_integration_tests) +set(PROJECT_NAME nexus_demos) project(${PROJECT_NAME} VERSION 0.0.1) find_package(ament_cmake REQUIRED) @@ -152,7 +152,7 @@ if(BUILD_TESTING) find_package(rcpputils REQUIRED) # To run the test use: - # ros2 run nexus_integration_tests test_mocks + # ros2 run nexus_demos test_mocks add_executable(test_mocks test/main.cpp src/test_mock_detection.cpp diff --git a/nexus_integration_tests/README.md b/nexus_demos/README.md similarity index 61% rename from nexus_integration_tests/README.md rename to nexus_demos/README.md index 1f5c036..64e8882 100644 --- a/nexus_integration_tests/README.md +++ b/nexus_demos/README.md @@ -1,4 +1,4 @@ -# nexus_integration_tests +# nexus_demos ## Launch system and workcell orchestrators and all mock nodes The [launch.py script](launch/launch.py) will launch the system orchestrator and 2 workcells orchestrators (each with a IRB910SC and IRB1300 robot), along with a Zenoh bridge to link selected ROS endpoints between them. These 3 orchestrators and their accompany components will be in different ROS_DOMAIN_IDs. To launch these components individually, use the following examples given. @@ -10,40 +10,40 @@ The [launch.py script](launch/launch.py) will launch the system orchestrator and `export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp` (If testing with real hardware, specify the arguments `use_fake_hardware=False`, `robot1_ip=` and `robot2_ip=`) ```bash -ros2 launch nexus_integration_tests launch.py headless:=False +ros2 launch nexus_demos launch.py headless:=False ``` ### Method 2: Launch System Orchestrator and 1 Workcell without Zenoh bridge (Same ROS_DOMAIN_ID) Launch with Workcell 1 ```bash -ros2 launch nexus_integration_tests launch.py headless:=False use_zenoh_bridge:=False run_workcell_1:=true run_workcell_2:=false +ros2 launch nexus_demos launch.py headless:=False use_zenoh_bridge:=False run_workcell_1:=true run_workcell_2:=false ``` Launch with Workcell 2 ```bash -ros2 launch nexus_integration_tests launch.py headless:=False use_zenoh_bridge:=False run_workcell_1:=false run_workcell_2:=true +ros2 launch nexus_demos launch.py headless:=False use_zenoh_bridge:=False run_workcell_1:=false run_workcell_2:=true ``` Testing with real hardware ```bash -ros2 launch nexus_integration_tests launch.py headless:=False use_zenoh_bridge:=False run_workcell_1:=True run_workcell_2:=False use_fake_hardware:=False robot1_ip:= +ros2 launch nexus_demos launch.py headless:=False use_zenoh_bridge:=False run_workcell_1:=True run_workcell_2:=False use_fake_hardware:=False robot1_ip:= ``` ## Launch Orchestrators individually ### System Orchestrator ```bash -ros2 launch nexus_integration_tests control_center.launch.py ros_domain_id:=0 headless:=False +ros2 launch nexus_demos control_center.launch.py ros_domain_id:=0 headless:=False ``` ### IRB910SC Workcell ```bash -ros2 launch nexus_integration_tests workcell.launch.py workcell_id:=workcell_1 ros_domain_id:=1 support_package:=abb_irb910sc_support robot_xacro_file:=irb910sc_3_45.xacro moveit_config_package:=abb_irb910sc_3_45_moveit_config controllers_file:=abb_irb910sc_controllers.yaml moveit_config_file:=abb_irb910sc_3_45.srdf.xacro tf_publisher_launch_file:=irb910sc_tf.launch.py planner_config_package:=nexus_integration_tests planner_config_file:=irb910sc_planner_params.yaml sku_detection_params_file:=irb910sc_detection.yaml zenoh_config_file:=workcell_1.json5 headless:=False +ros2 launch nexus_demos workcell.launch.py workcell_id:=workcell_1 ros_domain_id:=1 support_package:=abb_irb910sc_support robot_xacro_file:=irb910sc_3_45.xacro moveit_config_package:=abb_irb910sc_3_45_moveit_config controllers_file:=abb_irb910sc_controllers.yaml moveit_config_file:=abb_irb910sc_3_45.srdf.xacro tf_publisher_launch_file:=irb910sc_tf.launch.py planner_config_package:=nexus_demos planner_config_file:=irb910sc_planner_params.yaml sku_detection_params_file:=irb910sc_detection.yaml zenoh_config_file:=workcell_1.json5 headless:=False ``` ### IRB1300 Workcell ```bash -ros2 launch nexus_integration_tests workcell.launch.py workcell_id:=workcell_2 ros_domain_id:=2 support_package:=abb_irb1300_support robot_xacro_file:=irb1300_10_115.xacro moveit_config_package:=abb_irb1300_10_115_moveit_config controllers_file:=abb_irb1300_controllers.yaml moveit_config_file:=abb_irb1300_10_115.srdf.xacro tf_publisher_launch_file:=irb1300_tf.launch.py sku_detection_params_file:=irb1300_detection.yaml zenoh_config_file:=workcell_2.json5 headless:=False +ros2 launch nexus_demos workcell.launch.py workcell_id:=workcell_2 ros_domain_id:=2 support_package:=abb_irb1300_support robot_xacro_file:=irb1300_10_115.xacro moveit_config_package:=abb_irb1300_10_115_moveit_config controllers_file:=abb_irb1300_controllers.yaml moveit_config_file:=abb_irb1300_10_115.srdf.xacro tf_publisher_launch_file:=irb1300_tf.launch.py sku_detection_params_file:=irb1300_detection.yaml zenoh_config_file:=workcell_2.json5 headless:=False ``` ## Submit a job @@ -75,7 +75,7 @@ ros2 action send_goal /test_workcell/request nexus_orchestrator_msgs/action/Work Gripper position from 0 to `gripper_max_value`: ```bash -ros2 run nexus_integration_tests mock_gripper --ros-args -p gripper_max_value:=0.5 +ros2 run nexus_demos mock_gripper --ros-args -p gripper_max_value:=0.5 ``` To transition lifecycle states @@ -112,7 +112,7 @@ sku_id2: Save this file and launch the vision mock node: ```bash -ros2 run nexus_integration_tests mock_detection --ros-args -p config_file:= +ros2 run nexus_demos mock_detection --ros-args -p config_file:= ``` To transition lifecycle states @@ -138,7 +138,7 @@ ros2 run nexus_transporter nexus_transporter_node --ros-args -p transporter_plug ## mock_printer To launch the mock printer: ```bash -ros2 run nexus_integration_tests mock_printer_node +ros2 run nexus_demos mock_printer_node ``` To transition lifecycle states @@ -155,7 +155,7 @@ ros2 service call /mock_printer/dispense nexus_dispenser_msgs/srv/Dispense '{}' ## mock_robot_arm_controller To launch the mock_robot_arm_controller ```bash -ros2 run nexus_integration_tests mock_robot_arm_controller +ros2 run nexus_demos mock_robot_arm_controller ``` To launch the mock_robot_arm_controller @@ -175,17 +175,17 @@ ros2 action send_goal /joint_trajectory_position_controller/follow_joint_traject First launch `abb_control` ```bash -ros2 launch abb_bringup abb_control.launch.py runtime_config_package:=nexus_integration_tests description_package:=abb_irb910sc_support description_file:=irb910sc_3_45.xacro launch_rviz:=false moveit_config_package:=abb_irb910sc_3_45_moveit_config use_fake_hardware:=true controllers_file:=abb_irb910sc_controllers.yaml +ros2 launch abb_bringup abb_control.launch.py runtime_config_package:=nexus_demos description_package:=abb_irb910sc_support description_file:=irb910sc_3_45.xacro launch_rviz:=false moveit_config_package:=abb_irb910sc_3_45_moveit_config use_fake_hardware:=true controllers_file:=abb_irb910sc_controllers.yaml ``` If running with real robot ```bash -ros2 launch abb_bringup abb_control.launch.py runtime_config_package:=nexus_integration_tests description_package:=abb_irb910sc_support description_file:=irb910sc_3_45.xacro launch_rviz:=false moveit_config_package:=abb_irb910sc_3_45_moveit_config use_fake_hardware:=true controllers_file:=abb_irb910sc_controllers.yaml use_fake_hardware:=false rws_ip:= +ros2 launch abb_bringup abb_control.launch.py runtime_config_package:=nexus_demos description_package:=abb_irb910sc_support description_file:=irb910sc_3_45.xacro launch_rviz:=false moveit_config_package:=abb_irb910sc_3_45_moveit_config use_fake_hardware:=true controllers_file:=abb_irb910sc_controllers.yaml use_fake_hardware:=false rws_ip:= ``` Then launch moveit ```bash -ros2 launch nexus_integration_tests abb_irb910sc_moveit.launch.py +ros2 launch nexus_demos abb_irb910sc_moveit.launch.py ``` ### IRB1300 @@ -193,15 +193,15 @@ ros2 launch nexus_integration_tests abb_irb910sc_moveit.launch.py For more information see README in `abb_ros2` repo. First launch `abb_control` ```bash -ros2 launch abb_bringup abb_control.launch.py runtime_config_package:=nexus_integration_tests description_package:=abb_irb1300_support description_file:=irb1300_10_115.xacro launch_rviz:=false moveit_config_package:=abb_irb1300_10_115_moveit_config use_fake_hardware:=true controllers_file:=abb_irb1300_controllers.yaml +ros2 launch abb_bringup abb_control.launch.py runtime_config_package:=nexus_demos description_package:=abb_irb1300_support description_file:=irb1300_10_115.xacro launch_rviz:=false moveit_config_package:=abb_irb1300_10_115_moveit_config use_fake_hardware:=true controllers_file:=abb_irb1300_controllers.yaml ``` If running with real robot ```bash -ros2 launch abb_bringup abb_control.launch.py runtime_config_package:=nexus_integration_tests description_package:=abb_irb1300_support description_file:=irb1300_10_115.xacro launch_rviz:=false moveit_config_package:=abb_irb1300_10_114_moveit_config use_fake_hardware:=true controllers_file:=abb_irb1300_controllers.yaml use_fake_hardware:=false rws_ip:= +ros2 launch abb_bringup abb_control.launch.py runtime_config_package:=nexus_demos description_package:=abb_irb1300_support description_file:=irb1300_10_115.xacro launch_rviz:=false moveit_config_package:=abb_irb1300_10_114_moveit_config use_fake_hardware:=true controllers_file:=abb_irb1300_controllers.yaml use_fake_hardware:=false rws_ip:= ``` Then launch moveit ```bash -ros2 launch nexus_integration_tests abb_irb1300_moveit.launch.py +ros2 launch nexus_demos abb_irb1300_moveit.launch.py ``` diff --git a/nexus_integration_tests/config/abb_irb1300_controllers.yaml b/nexus_demos/config/abb_irb1300_controllers.yaml similarity index 100% rename from nexus_integration_tests/config/abb_irb1300_controllers.yaml rename to nexus_demos/config/abb_irb1300_controllers.yaml diff --git a/nexus_integration_tests/config/abb_irb1300_planner_params.yaml b/nexus_demos/config/abb_irb1300_planner_params.yaml similarity index 100% rename from nexus_integration_tests/config/abb_irb1300_planner_params.yaml rename to nexus_demos/config/abb_irb1300_planner_params.yaml diff --git a/nexus_integration_tests/config/abb_irb910sc_controllers.yaml b/nexus_demos/config/abb_irb910sc_controllers.yaml similarity index 100% rename from nexus_integration_tests/config/abb_irb910sc_controllers.yaml rename to nexus_demos/config/abb_irb910sc_controllers.yaml diff --git a/nexus_integration_tests/config/abb_irb910sc_planner_params.yaml b/nexus_demos/config/abb_irb910sc_planner_params.yaml similarity index 100% rename from nexus_integration_tests/config/abb_irb910sc_planner_params.yaml rename to nexus_demos/config/abb_irb910sc_planner_params.yaml diff --git a/nexus_integration_tests/config/pick_and_place.json b/nexus_demos/config/pick_and_place.json similarity index 100% rename from nexus_integration_tests/config/pick_and_place.json rename to nexus_demos/config/pick_and_place.json diff --git a/nexus_integration_tests/config/pick_from_conveyor.json b/nexus_demos/config/pick_from_conveyor.json similarity index 100% rename from nexus_integration_tests/config/pick_from_conveyor.json rename to nexus_demos/config/pick_from_conveyor.json diff --git a/nexus_integration_tests/config/place_on_conveyor.json b/nexus_demos/config/place_on_conveyor.json similarity index 100% rename from nexus_integration_tests/config/place_on_conveyor.json rename to nexus_demos/config/place_on_conveyor.json diff --git a/nexus_integration_tests/config/product_detector_config.yaml b/nexus_demos/config/product_detector_config.yaml similarity index 100% rename from nexus_integration_tests/config/product_detector_config.yaml rename to nexus_demos/config/product_detector_config.yaml diff --git a/nexus_integration_tests/config/rmf/deliveryRobot_config.yaml b/nexus_demos/config/rmf/deliveryRobot_config.yaml similarity index 100% rename from nexus_integration_tests/config/rmf/deliveryRobot_config.yaml rename to nexus_demos/config/rmf/deliveryRobot_config.yaml diff --git a/nexus_integration_tests/config/rmf/maps/depot/depot.building.yaml b/nexus_demos/config/rmf/maps/depot/depot.building.yaml similarity index 100% rename from nexus_integration_tests/config/rmf/maps/depot/depot.building.yaml rename to nexus_demos/config/rmf/maps/depot/depot.building.yaml diff --git a/nexus_integration_tests/config/rmf/maps/depot/depot_scan.png b/nexus_demos/config/rmf/maps/depot/depot_scan.png similarity index 100% rename from nexus_integration_tests/config/rmf/maps/depot/depot_scan.png rename to nexus_demos/config/rmf/maps/depot/depot_scan.png diff --git a/nexus_integration_tests/config/rmf/maps/depot/depot_template.sdf b/nexus_demos/config/rmf/maps/depot/depot_template.sdf similarity index 100% rename from nexus_integration_tests/config/rmf/maps/depot/depot_template.sdf rename to nexus_demos/config/rmf/maps/depot/depot_template.sdf diff --git a/nexus_integration_tests/config/rmf/transportation.xml b/nexus_demos/config/rmf/transportation.xml similarity index 100% rename from nexus_integration_tests/config/rmf/transportation.xml rename to nexus_demos/config/rmf/transportation.xml diff --git a/nexus_integration_tests/config/system_bts/main.xml b/nexus_demos/config/system_bts/main.xml similarity index 100% rename from nexus_integration_tests/config/system_bts/main.xml rename to nexus_demos/config/system_bts/main.xml diff --git a/nexus_integration_tests/config/system_bts/main_rmf.xml b/nexus_demos/config/system_bts/main_rmf.xml similarity index 100% rename from nexus_integration_tests/config/system_bts/main_rmf.xml rename to nexus_demos/config/system_bts/main_rmf.xml diff --git a/nexus_integration_tests/config/system_bts/pick_and_place.xml b/nexus_demos/config/system_bts/pick_and_place.xml similarity index 100% rename from nexus_integration_tests/config/system_bts/pick_and_place.xml rename to nexus_demos/config/system_bts/pick_and_place.xml diff --git a/nexus_integration_tests/config/system_bts/pick_and_place_rmf.xml b/nexus_demos/config/system_bts/pick_and_place_rmf.xml similarity index 100% rename from nexus_integration_tests/config/system_bts/pick_and_place_rmf.xml rename to nexus_demos/config/system_bts/pick_and_place_rmf.xml diff --git a/nexus_integration_tests/config/workcell_1_bts/place_on_conveyor.xml b/nexus_demos/config/workcell_1_bts/place_on_conveyor.xml similarity index 100% rename from nexus_integration_tests/config/workcell_1_bts/place_on_conveyor.xml rename to nexus_demos/config/workcell_1_bts/place_on_conveyor.xml diff --git a/nexus_integration_tests/config/workcell_2_bts/pick_from_conveyor.xml b/nexus_demos/config/workcell_2_bts/pick_from_conveyor.xml similarity index 100% rename from nexus_integration_tests/config/workcell_2_bts/pick_from_conveyor.xml rename to nexus_demos/config/workcell_2_bts/pick_from_conveyor.xml diff --git a/nexus_integration_tests/config/workcell_task.yaml b/nexus_demos/config/workcell_task.yaml similarity index 100% rename from nexus_integration_tests/config/workcell_task.yaml rename to nexus_demos/config/workcell_task.yaml diff --git a/nexus_integration_tests/config/zenoh/nexus_network_config.yaml b/nexus_demos/config/zenoh/nexus_network_config.yaml similarity index 100% rename from nexus_integration_tests/config/zenoh/nexus_network_config.yaml rename to nexus_demos/config/zenoh/nexus_network_config.yaml diff --git a/nexus_integration_tests/launch/include/abb_irb1300_moveit.launch.py b/nexus_demos/launch/include/abb_irb1300_moveit.launch.py similarity index 100% rename from nexus_integration_tests/launch/include/abb_irb1300_moveit.launch.py rename to nexus_demos/launch/include/abb_irb1300_moveit.launch.py diff --git a/nexus_integration_tests/launch/include/abb_irb910sc_moveit.launch.py b/nexus_demos/launch/include/abb_irb910sc_moveit.launch.py similarity index 100% rename from nexus_integration_tests/launch/include/abb_irb910sc_moveit.launch.py rename to nexus_demos/launch/include/abb_irb910sc_moveit.launch.py diff --git a/nexus_integration_tests/launch/include/nexus_control.launch.py b/nexus_demos/launch/include/nexus_control.launch.py similarity index 99% rename from nexus_integration_tests/launch/include/nexus_control.launch.py rename to nexus_demos/launch/include/nexus_control.launch.py index 3d1e1e2..4dc7e86 100644 --- a/nexus_integration_tests/launch/include/nexus_control.launch.py +++ b/nexus_demos/launch/include/nexus_control.launch.py @@ -21,7 +21,7 @@ def generate_launch_description(): declared_arguments.append( DeclareLaunchArgument( "runtime_config_package", - default_value="nexus_integration_tests", + default_value="nexus_demos", description='Package with the controller\'s configuration in "config" folder. \ Usually the argument is not set, it enables use of a custom setup.', ) diff --git a/nexus_integration_tests/launch/inter_workcell.launch.py b/nexus_demos/launch/inter_workcell.launch.py similarity index 96% rename from nexus_integration_tests/launch/inter_workcell.launch.py rename to nexus_demos/launch/inter_workcell.launch.py index a1c42c3..c1965f9 100644 --- a/nexus_integration_tests/launch/inter_workcell.launch.py +++ b/nexus_demos/launch/inter_workcell.launch.py @@ -142,7 +142,7 @@ def launch_setup(context, *args, **kwargs): [ PathJoinSubstitution( [ - FindPackageShare("nexus_integration_tests"), + FindPackageShare("nexus_demos"), "launch", "rmf_transporter.launch.xml", ] @@ -182,7 +182,7 @@ def launch_setup(context, *args, **kwargs): mock_emergency_alarm_node = LifecycleNode( name="mock_emergency_alarm", namespace="", - package="nexus_integration_tests", + package="nexus_demos", executable="mock_emergency_alarm", ) @@ -200,7 +200,7 @@ def launch_setup(context, *args, **kwargs): [ PathJoinSubstitution( [ - FindPackageShare("nexus_integration_tests"), + FindPackageShare("nexus_demos"), "launch", "zenoh_bridge.launch.py", ] @@ -264,7 +264,7 @@ def generate_launch_description(): ), DeclareLaunchArgument( name="zenoh_config_package", - default_value="nexus_integration_tests", + default_value="nexus_demos", description="Package containing Zenoh DDS bridge configurations", ), DeclareLaunchArgument( @@ -299,12 +299,12 @@ def generate_launch_description(): ), DeclareLaunchArgument( "nexus_rviz_config", - default_value=os.path.join(get_package_share_directory("nexus_integration_tests"), "rviz", "nexus_panel.rviz"), + default_value=os.path.join(get_package_share_directory("nexus_demos"), "rviz", "nexus_panel.rviz"), description="Absolute path to an RViZ config file.", ), DeclareLaunchArgument( "system_orchestrator_bt_dir", - default_value=os.path.join(get_package_share_directory("nexus_integration_tests"), "config", "system_bts"), + default_value=os.path.join(get_package_share_directory("nexus_demos"), "config", "system_bts"), description="Absolute path directory containing BTs for the system orchestrator.", ), DeclareLaunchArgument( diff --git a/nexus_integration_tests/launch/launch.py b/nexus_demos/launch/launch.py similarity index 91% rename from nexus_integration_tests/launch/launch.py rename to nexus_demos/launch/launch.py index 2f539d7..fefc8fe 100644 --- a/nexus_integration_tests/launch/launch.py +++ b/nexus_demos/launch/launch.py @@ -97,7 +97,7 @@ def launch_setup(context, *args, **kwargs): log_msg += f"System Orchestrator will load : {main_bt_filename}\n" nexus_rviz_config = os.path.join( - get_package_share_directory("nexus_integration_tests"), "rviz", rviz_config_filename) + get_package_share_directory("nexus_demos"), "rviz", rviz_config_filename) launch_inter_workcell = GroupAction( actions=[ @@ -105,7 +105,7 @@ def launch_setup(context, *args, **kwargs): [ PathJoinSubstitution( [ - FindPackageShare("nexus_integration_tests"), + FindPackageShare("nexus_demos"), "launch", "inter_workcell.launch.py", ] @@ -113,7 +113,7 @@ def launch_setup(context, *args, **kwargs): ], launch_arguments={ "ros_domain_id": str(inter_workcell_domain_id), - "zenoh_config_package": "nexus_integration_tests", + "zenoh_config_package": "nexus_demos", "zenoh_config_filename": "config/zenoh/system_orchestrator.json5", "use_rmf_transporter": use_rmf_transporter, "transporter_plugin": "nexus_transporter::MockTransporter", @@ -133,7 +133,7 @@ def launch_setup(context, *args, **kwargs): [ PathJoinSubstitution( [ - FindPackageShare("nexus_integration_tests"), + FindPackageShare("nexus_demos"), "launch", "workcell.launch.py", ] @@ -142,15 +142,15 @@ def launch_setup(context, *args, **kwargs): launch_arguments={ "workcell_id": "workcell_1", "bt_path": ( - FindPackageShare("nexus_integration_tests"), + FindPackageShare("nexus_demos"), "/config/workcell_1_bts", ), "task_checker_plugin": "nexus::task_checkers::FilepathChecker", "ros_domain_id": str(workcell_1_domain_id), "headless": headless, "use_zenoh_bridge": use_zenoh_bridge, - "controller_config_package": "nexus_integration_tests", - "planner_config_package": "nexus_integration_tests", + "controller_config_package": "nexus_demos", + "planner_config_package": "nexus_demos", "planner_config_file": "abb_irb910sc_planner_params.yaml", "support_package": "abb_irb910sc_support", "robot_xacro_file": "irb910sc_3_45.xacro", @@ -162,7 +162,7 @@ def launch_setup(context, *args, **kwargs): "dispenser_properties": "productA", "use_fake_hardware": use_fake_hardware, "robot_ip": robot1_ip, - "zenoh_config_package": "nexus_integration_tests", + "zenoh_config_package": "nexus_demos", "zenoh_config_filename": "config/zenoh/workcell_1.json5", }.items(), condition=IfCondition(run_workcell_1), @@ -176,7 +176,7 @@ def launch_setup(context, *args, **kwargs): [ PathJoinSubstitution( [ - FindPackageShare("nexus_integration_tests"), + FindPackageShare("nexus_demos"), "launch", "workcell.launch.py", ] @@ -185,15 +185,15 @@ def launch_setup(context, *args, **kwargs): launch_arguments={ "workcell_id": "workcell_2", "bt_path": ( - FindPackageShare("nexus_integration_tests"), + FindPackageShare("nexus_demos"), "/config/workcell_2_bts", ), "task_checker_plugin": "nexus::task_checkers::FilepathChecker", "ros_domain_id": str(workcell_2_domain_id), "headless": headless, "use_zenoh_bridge": use_zenoh_bridge, - "controller_config_package": "nexus_integration_tests", - "planner_config_package": "nexus_integration_tests", + "controller_config_package": "nexus_demos", + "planner_config_package": "nexus_demos", "planner_config_file": "abb_irb1300_planner_params.yaml", "support_package": "abb_irb1300_support", "robot_xacro_file": "irb1300_10_115.xacro", @@ -205,7 +205,7 @@ def launch_setup(context, *args, **kwargs): "dispenser_properties": "productB", "use_fake_hardware": use_fake_hardware, "robot_ip": robot2_ip, - "zenoh_config_package": "nexus_integration_tests", + "zenoh_config_package": "nexus_demos", "zenoh_config_filename": "config/zenoh/workcell_2.json5", }.items(), condition=IfCondition(run_workcell_2), diff --git a/nexus_integration_tests/launch/rmf_transporter.launch.xml b/nexus_demos/launch/rmf_transporter.launch.xml similarity index 80% rename from nexus_integration_tests/launch/rmf_transporter.launch.xml rename to nexus_demos/launch/rmf_transporter.launch.xml index 96ac0a9..ad51304 100644 --- a/nexus_integration_tests/launch/rmf_transporter.launch.xml +++ b/nexus_demos/launch/rmf_transporter.launch.xml @@ -22,7 +22,7 @@ - + @@ -50,21 +50,21 @@ - - + + - + - - + + diff --git a/nexus_integration_tests/launch/workcell.launch.py b/nexus_demos/launch/workcell.launch.py similarity index 95% rename from nexus_integration_tests/launch/workcell.launch.py rename to nexus_demos/launch/workcell.launch.py index 8498399..f3c1419 100644 --- a/nexus_integration_tests/launch/workcell.launch.py +++ b/nexus_demos/launch/workcell.launch.py @@ -41,7 +41,7 @@ def activate_node_service(node_name, ros_domain_id): activate_node_proc = ExecuteProcess( cmd=[ 'python3', - [FindPackageShare('nexus_integration_tests'), "/scripts/activate_node.py"], + [FindPackageShare('nexus_demos'), "/scripts/activate_node.py"], node_name, ], additional_env={'ROS_DOMAIN_ID': ros_domain_id}, @@ -70,7 +70,7 @@ def check_activate_return_code(event, _): def launch_setup(context, *args, **kwargs): - config_path = get_package_share_directory("nexus_integration_tests") + config_path = get_package_share_directory("nexus_demos") # Initialize launch configuration workcell_id = LaunchConfiguration("workcell_id") @@ -100,7 +100,7 @@ def launch_setup(context, *args, **kwargs): mock_dispenser_node = LifecycleNode( name=workcell_id.perform(context) + "_mock_dispenser", namespace="", - package="nexus_integration_tests", + package="nexus_demos", executable="mock_printer_node", parameters=[ { @@ -112,13 +112,13 @@ def launch_setup(context, *args, **kwargs): mock_product_detector_node = LifecycleNode( name=workcell_id.perform(context) + "_mock_product_detector", namespace="", - package="nexus_integration_tests", + package="nexus_demos", executable="mock_detection", parameters=[ {"autostart": True}, {"config_file": PathJoinSubstitution([ - FindPackageShare("nexus_integration_tests"), + FindPackageShare("nexus_demos"), "config", sku_detection_params_file ]) @@ -129,7 +129,7 @@ def launch_setup(context, *args, **kwargs): mock_gripper_node = LifecycleNode( name=workcell_id.perform(context) + "_mock_gripper", namespace="", - package="nexus_integration_tests", + package="nexus_demos", executable="mock_gripper", parameters=[{"autostart": True}], ) @@ -244,7 +244,7 @@ def launch_setup(context, *args, **kwargs): IncludeLaunchDescription( [ PathJoinSubstitution([ - FindPackageShare("nexus_integration_tests"), + FindPackageShare("nexus_demos"), 'launch', tf_publisher_launch_file, ]) @@ -257,7 +257,7 @@ def launch_setup(context, *args, **kwargs): IncludeLaunchDescription( [ PathJoinSubstitution([ - FindPackageShare('nexus_integration_tests'), + FindPackageShare('nexus_demos'), 'launch', 'zenoh_bridge.launch.py' ]) @@ -303,7 +303,7 @@ def generate_launch_description(): ), DeclareLaunchArgument( "controller_config_package", - default_value="nexus_integration_tests", + default_value="nexus_demos", description="Package with the controller\'s configuration in 'config' folder", ), DeclareLaunchArgument( @@ -373,7 +373,7 @@ def generate_launch_description(): ), DeclareLaunchArgument( name="zenoh_config_package", - default_value="nexus_integration_tests", + default_value="nexus_demos", description="Package containing Zenoh DDS bridge configurations", ), DeclareLaunchArgument( diff --git a/nexus_integration_tests/launch/workcell_1_tf.launch.py b/nexus_demos/launch/workcell_1_tf.launch.py similarity index 100% rename from nexus_integration_tests/launch/workcell_1_tf.launch.py rename to nexus_demos/launch/workcell_1_tf.launch.py diff --git a/nexus_integration_tests/launch/workcell_2_tf.launch.py b/nexus_demos/launch/workcell_2_tf.launch.py similarity index 100% rename from nexus_integration_tests/launch/workcell_2_tf.launch.py rename to nexus_demos/launch/workcell_2_tf.launch.py diff --git a/nexus_integration_tests/launch/zenoh_bridge.launch.py b/nexus_demos/launch/zenoh_bridge.launch.py similarity index 98% rename from nexus_integration_tests/launch/zenoh_bridge.launch.py rename to nexus_demos/launch/zenoh_bridge.launch.py index acd5009..8dad127 100644 --- a/nexus_integration_tests/launch/zenoh_bridge.launch.py +++ b/nexus_demos/launch/zenoh_bridge.launch.py @@ -94,7 +94,7 @@ def generate_launch_description(): declared_arguments.append( DeclareLaunchArgument( name="zenoh_config_package", - default_value="nexus_integration_tests", + default_value="nexus_demos", description="Package containing Zenoh DDS bridge configurations", ) ) diff --git a/nexus_integration_tests/managed_process.py b/nexus_demos/managed_process.py similarity index 100% rename from nexus_integration_tests/managed_process.py rename to nexus_demos/managed_process.py diff --git a/nexus_integration_tests/mock_plugins.xml b/nexus_demos/mock_plugins.xml similarity index 100% rename from nexus_integration_tests/mock_plugins.xml rename to nexus_demos/mock_plugins.xml diff --git a/nexus_integration_tests/nexus_test_case.py b/nexus_demos/nexus_test_case.py similarity index 100% rename from nexus_integration_tests/nexus_test_case.py rename to nexus_demos/nexus_test_case.py diff --git a/nexus_integration_tests/package.xml b/nexus_demos/package.xml similarity index 95% rename from nexus_integration_tests/package.xml rename to nexus_demos/package.xml index 74fed61..16ae9b6 100644 --- a/nexus_integration_tests/package.xml +++ b/nexus_demos/package.xml @@ -1,9 +1,9 @@ - nexus_integration_tests + nexus_demos 0.1.1 - Integration test for system and workcell orchestrators + Demo package containing system and workcell orchestrators Teo Koon Peng Apache License 2.0 diff --git a/nexus_integration_tests/ros_testcase.py b/nexus_demos/ros_testcase.py similarity index 100% rename from nexus_integration_tests/ros_testcase.py rename to nexus_demos/ros_testcase.py diff --git a/nexus_integration_tests/rviz/nexus_panel.rviz b/nexus_demos/rviz/nexus_panel.rviz similarity index 100% rename from nexus_integration_tests/rviz/nexus_panel.rviz rename to nexus_demos/rviz/nexus_panel.rviz diff --git a/nexus_integration_tests/rviz/nexus_panel_rmf.rviz b/nexus_demos/rviz/nexus_panel_rmf.rviz similarity index 100% rename from nexus_integration_tests/rviz/nexus_panel_rmf.rviz rename to nexus_demos/rviz/nexus_panel_rmf.rviz diff --git a/nexus_integration_tests/scripts/activate_node.py b/nexus_demos/scripts/activate_node.py similarity index 100% rename from nexus_integration_tests/scripts/activate_node.py rename to nexus_demos/scripts/activate_node.py diff --git a/nexus_integration_tests/src/mock_detection.cpp b/nexus_demos/src/mock_detection.cpp similarity index 100% rename from nexus_integration_tests/src/mock_detection.cpp rename to nexus_demos/src/mock_detection.cpp diff --git a/nexus_integration_tests/src/mock_detection.hpp b/nexus_demos/src/mock_detection.hpp similarity index 100% rename from nexus_integration_tests/src/mock_detection.hpp rename to nexus_demos/src/mock_detection.hpp diff --git a/nexus_integration_tests/src/mock_emergency_alarm.cpp b/nexus_demos/src/mock_emergency_alarm.cpp similarity index 100% rename from nexus_integration_tests/src/mock_emergency_alarm.cpp rename to nexus_demos/src/mock_emergency_alarm.cpp diff --git a/nexus_integration_tests/src/mock_gripper.cpp b/nexus_demos/src/mock_gripper.cpp similarity index 100% rename from nexus_integration_tests/src/mock_gripper.cpp rename to nexus_demos/src/mock_gripper.cpp diff --git a/nexus_integration_tests/src/mock_gripper.hpp b/nexus_demos/src/mock_gripper.hpp similarity index 100% rename from nexus_integration_tests/src/mock_gripper.hpp rename to nexus_demos/src/mock_gripper.hpp diff --git a/nexus_integration_tests/src/mock_printer.cpp b/nexus_demos/src/mock_printer.cpp similarity index 100% rename from nexus_integration_tests/src/mock_printer.cpp rename to nexus_demos/src/mock_printer.cpp diff --git a/nexus_integration_tests/src/mock_transporter.cpp b/nexus_demos/src/mock_transporter.cpp similarity index 100% rename from nexus_integration_tests/src/mock_transporter.cpp rename to nexus_demos/src/mock_transporter.cpp diff --git a/nexus_integration_tests/src/test_mock_detection.cpp b/nexus_demos/src/test_mock_detection.cpp similarity index 96% rename from nexus_integration_tests/src/test_mock_detection.cpp rename to nexus_demos/src/test_mock_detection.cpp index 809b990..4d1d2d2 100644 --- a/nexus_integration_tests/src/test_mock_detection.cpp +++ b/nexus_demos/src/test_mock_detection.cpp @@ -28,7 +28,7 @@ SCENARIO("Test Detection Mock") try { package_prefix = - ament_index_cpp::get_package_prefix("nexus_integration_tests"); + ament_index_cpp::get_package_prefix("nexus_demos"); } catch (ament_index_cpp::PackageNotFoundError& e) { @@ -36,7 +36,7 @@ SCENARIO("Test Detection Mock") } auto path = rcpputils::fs::path(package_prefix) / "share" / - "nexus_integration_tests" / "config" / "detection.yaml"; + "nexus_demos" / "config" / "detection.yaml"; auto node = std::make_shared( rclcpp::NodeOptions(), path.string()); diff --git a/nexus_integration_tests/src/test_mock_gripper.cpp b/nexus_demos/src/test_mock_gripper.cpp similarity index 100% rename from nexus_integration_tests/src/test_mock_gripper.cpp rename to nexus_demos/src/test_mock_gripper.cpp diff --git a/nexus_integration_tests/test/main.cpp b/nexus_demos/test/main.cpp similarity index 100% rename from nexus_integration_tests/test/main.cpp rename to nexus_demos/test/main.cpp diff --git a/nexus_integration_tests/test_parallel_wo.py b/nexus_demos/test_parallel_wo.py similarity index 98% rename from nexus_integration_tests/test_parallel_wo.py rename to nexus_demos/test_parallel_wo.py index 48d3d8c..f2d8018 100644 --- a/nexus_integration_tests/test_parallel_wo.py +++ b/nexus_demos/test_parallel_wo.py @@ -38,7 +38,7 @@ async def asyncSetUp(self): subprocess.Popen('pkill -9 -f zenoh', shell=True) self.proc = managed_process( - ("ros2", "launch", "nexus_integration_tests", "launch.py"), + ("ros2", "launch", "nexus_demos", "launch.py"), ) self.proc.__enter__() print("waiting for nodes to be ready...", file=sys.stderr) diff --git a/nexus_integration_tests/test_pick_and_place.py b/nexus_demos/test_pick_and_place.py similarity index 98% rename from nexus_integration_tests/test_pick_and_place.py rename to nexus_demos/test_pick_and_place.py index 6369320..fea0534 100644 --- a/nexus_integration_tests/test_pick_and_place.py +++ b/nexus_demos/test_pick_and_place.py @@ -40,7 +40,7 @@ async def asyncSetUp(self): subprocess.Popen('pkill -9 -f zenoh', shell=True) self.proc = managed_process( - ("ros2", "launch", "nexus_integration_tests", "launch.py"), + ("ros2", "launch", "nexus_demos", "launch.py"), ) self.proc.__enter__() print("waiting for nodes to be ready...", file=sys.stderr) diff --git a/nexus_integration_tests/test_pick_and_place_rmf.py b/nexus_demos/test_pick_and_place_rmf.py similarity index 99% rename from nexus_integration_tests/test_pick_and_place_rmf.py rename to nexus_demos/test_pick_and_place_rmf.py index d117321..ad8ebee 100644 --- a/nexus_integration_tests/test_pick_and_place_rmf.py +++ b/nexus_demos/test_pick_and_place_rmf.py @@ -43,7 +43,7 @@ async def asyncSetUp(self): ( "ros2", "launch", - "nexus_integration_tests", + "nexus_demos", "launch.py", "sim_update_rate:=10000", "use_rmf_transporter:=true"