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Restore tiago and epuck_tools tests #641

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merged 6 commits into from
Feb 24, 2023
Merged

Restore tiago and epuck_tools tests #641

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8b94b68
Restore tiago and epuck_tools tests
ygoumaz Feb 23, 2023
a594c6b
Update ci_after_init.bash
ygoumaz Feb 23, 2023
5be3269
Update ci_after_init.bash
ygoumaz Feb 23, 2023
eaa55fb
permissions
Feb 23, 2023
1d3a46b
Merge branch 'master' into fix-restore-tiago-epuck-tests
ygoumaz Feb 23, 2023
efb0604
Increase timeout
ygoumaz Feb 23, 2023
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6 changes: 3 additions & 3 deletions scripts/ci_after_init.bash
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Original file line number Diff line number Diff line change
Expand Up @@ -26,9 +26,9 @@ if [[ $(lsb_release -rs) == "22.04" && ${WEBOTS_RELEASE_VERSION} == "2022a" ]];
mv /tmp/openssl-1.1/* /usr/local/webots/lib/webots/
fi

# The following packages are only available in the ROS 2 Foxy distribution. Therefore, we cannot include them in the package.xml, but we have to install them manually here.
if [[ "${ROS_DISTRO}" == "foxy" ]]; then
apt install -y ros-${ROS_DISTRO}-turtlebot3-cartographer ros-${ROS_DISTRO}-turtlebot3-navigation2
# The following packages are not available in the ROS 2 Rolling distribution. Therefore, we cannot include them in the package.xml, but we have to install them manually here.
if [[ "${ROS_DISTRO}" != "rolling" ]]; then
apt install -y ros-${ROS_DISTRO}-turtlebot3-cartographer ros-${ROS_DISTRO}-turtlebot3-navigation2 ros-${ROS_DISTRO}-nav2-bringup
fi

# Setup Qt plugins for RViz (can be used once RViz does not randomly crash anymore in GitHub CI).
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4 changes: 0 additions & 4 deletions webots_ros2_tests/test/test_system_epuck_with_tools.py
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Expand Up @@ -34,10 +34,6 @@
def generate_test_description():
initialize_webots_test()

# If testing in GitHub CI, skip the test as RViz might crash
if 'CI' in os.environ and os.environ['CI'] == '1':
pytest.skip('RViz might crash in CI, skipping this test')

epuck_with_tools_webots = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(get_package_share_directory('webots_ros2_epuck'), 'launch', 'robot_with_tools_launch.py')
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6 changes: 3 additions & 3 deletions webots_ros2_tests/test/test_system_tiago.py
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Expand Up @@ -35,9 +35,9 @@
@pytest.mark.rostest
def generate_test_description():
initialize_webots_test()
# If ROS_DISTRO is rolling or humble, skip the test as some required packages are missing (cf. ci_after_init.bash)
if 'ROS_DISTRO' in os.environ and os.environ['ROS_DISTRO'] != 'foxy':
pytest.skip('ROS_DISTRO is rolling or humble, skipping this test')
# If ROS_DISTRO is rolling, skip the test as some required packages are missing (cf. ci_after_init.bash)
if 'ROS_DISTRO' in os.environ and os.environ['ROS_DISTRO'] == 'rolling':
pytest.skip('ROS_DISTRO is rolling, skipping this test')

tiago_webots = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
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2 changes: 1 addition & 1 deletion webots_ros2_tiago/launch/robot_launch.py
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Expand Up @@ -42,7 +42,7 @@ def get_ros2_nodes(*args):
nav2_map = os.path.join(package_dir, 'resource', 'map.yaml')
use_sim_time = LaunchConfiguration('use_sim_time', default=True)

controller_manager_timeout = ['--controller-manager-timeout', '50']
controller_manager_timeout = ['--controller-manager-timeout', '500']
controller_manager_prefix = 'python.exe' if os.name == 'nt' else ''

use_deprecated_spawner_py = 'ROS_DISTRO' in os.environ and os.environ['ROS_DISTRO'] == 'foxy'
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