From 77ee61d8cee31416cbb56358cbfd5958d11c7f59 Mon Sep 17 00:00:00 2001 From: stevemacenski Date: Mon, 3 Aug 2020 17:22:40 -0700 Subject: [PATCH 1/2] more tests --- .../test/plugins/action/CMakeLists.txt | 4 +++ .../test/plugins/action/test_spin_action.cpp | 2 +- .../include/nav2_core/progress_checker.hpp | 2 +- nav2_util/CMakeLists.txt | 2 ++ nav2_util/package.xml | 2 ++ nav2_util/test/test_actions.cpp | 25 +++++++++++++++++++ 6 files changed, 35 insertions(+), 2 deletions(-) diff --git a/nav2_behavior_tree/test/plugins/action/CMakeLists.txt b/nav2_behavior_tree/test/plugins/action/CMakeLists.txt index ec004fea2d3..c9c41eb19fd 100644 --- a/nav2_behavior_tree/test/plugins/action/CMakeLists.txt +++ b/nav2_behavior_tree/test/plugins/action/CMakeLists.txt @@ -14,6 +14,10 @@ ament_add_gtest(test_action_clear_costmap_service test_clear_costmap_service.cpp target_link_libraries(test_action_clear_costmap_service nav2_clear_costmap_service_bt_node) ament_target_dependencies(test_action_clear_costmap_service ${dependencies}) +ament_add_gtest(test_service test_service.cpp) +target_link_libraries(test_service nav2_clear_costmap_service_bt_node) +ament_target_dependencies(test_service ${dependencies}) + ament_add_gtest(test_action_reinitialize_global_localization_service test_reinitialize_global_localization_service.cpp) target_link_libraries(test_action_reinitialize_global_localization_service nav2_reinitialize_global_localization_service_bt_node) ament_target_dependencies(test_action_reinitialize_global_localization_service ${dependencies}) diff --git a/nav2_behavior_tree/test/plugins/action/test_spin_action.cpp b/nav2_behavior_tree/test/plugins/action/test_spin_action.cpp index 1b8f6517f66..e24b3b251e1 100644 --- a/nav2_behavior_tree/test/plugins/action/test_spin_action.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_spin_action.cpp @@ -109,7 +109,7 @@ TEST_F(SpinActionTestFixture, test_ports) R"( - + )"; diff --git a/nav2_core/include/nav2_core/progress_checker.hpp b/nav2_core/include/nav2_core/progress_checker.hpp index 041ae88fbdb..2dd9c5bef89 100644 --- a/nav2_core/include/nav2_core/progress_checker.hpp +++ b/nav2_core/include/nav2_core/progress_checker.hpp @@ -55,7 +55,7 @@ class ProgressChecker /** * @brief Reset class state upon calling */ - virtual void reset() {} + virtual void reset() = 0; }; } // namespace nav2_core diff --git a/nav2_util/CMakeLists.txt b/nav2_util/CMakeLists.txt index 21be6cdfa95..930034f09cf 100644 --- a/nav2_util/CMakeLists.txt +++ b/nav2_util/CMakeLists.txt @@ -17,6 +17,7 @@ find_package(rclcpp_lifecycle REQUIRED) find_package(tf2_geometry_msgs REQUIRED) find_package(bondcpp REQUIRED) find_package(bond REQUIRED) +find_package(action_msgs REQUIRED) set(dependencies nav2_msgs @@ -32,6 +33,7 @@ set(dependencies rclcpp_lifecycle bondcpp bond + action_msgs ) nav2_package() diff --git a/nav2_util/package.xml b/nav2_util/package.xml index 87f9086b9c2..8d5ccf865c6 100644 --- a/nav2_util/package.xml +++ b/nav2_util/package.xml @@ -28,6 +28,7 @@ rclcpp_lifecycle launch launch_testing_ament_cmake + action_msgs libboost-program-options @@ -37,6 +38,7 @@ launch launch_testing_ament_cmake std_srvs + action_msgs ament_cmake diff --git a/nav2_util/test/test_actions.cpp b/nav2_util/test/test_actions.cpp index b999a28b7c9..35043d5df2f 100644 --- a/nav2_util/test/test_actions.cpp +++ b/nav2_util/test/test_actions.cpp @@ -516,6 +516,31 @@ TEST_F(ActionTest, test_handle_goal_deactivated) SUCCEED(); } +TEST_F(ActionTest, test_handle_cancel) +{ + auto goal = Fibonacci::Goal(); + goal.order = 14000000; + + // Send the goal + auto future_goal_handle = node_->action_client_->async_send_goal(goal); + EXPECT_EQ( + rclcpp::spin_until_future_complete( + node_, + future_goal_handle), rclcpp::FutureReturnCode::SUCCESS); + + // Cancel the goal + auto cancel_response = node_->action_client_->async_cancel_goal(future_goal_handle.get()); + EXPECT_EQ( + rclcpp::spin_until_future_complete( + node_, + cancel_response), rclcpp::FutureReturnCode::SUCCESS); + + // Check cancelled + EXPECT_EQ(future_goal_handle.get()->get_status(), rclcpp_action::GoalStatus::STATUS_CANCELING); + + SUCCEED(); +} + int main(int argc, char ** argv) { rclcpp::init(argc, argv); From 84212ada8028ca31b735cc8230d6ead9b7e88686 Mon Sep 17 00:00:00 2001 From: stevemacenski Date: Mon, 3 Aug 2020 17:38:42 -0700 Subject: [PATCH 2/2] removing old cmake --- nav2_behavior_tree/test/plugins/action/CMakeLists.txt | 4 ---- 1 file changed, 4 deletions(-) diff --git a/nav2_behavior_tree/test/plugins/action/CMakeLists.txt b/nav2_behavior_tree/test/plugins/action/CMakeLists.txt index c9c41eb19fd..ec004fea2d3 100644 --- a/nav2_behavior_tree/test/plugins/action/CMakeLists.txt +++ b/nav2_behavior_tree/test/plugins/action/CMakeLists.txt @@ -14,10 +14,6 @@ ament_add_gtest(test_action_clear_costmap_service test_clear_costmap_service.cpp target_link_libraries(test_action_clear_costmap_service nav2_clear_costmap_service_bt_node) ament_target_dependencies(test_action_clear_costmap_service ${dependencies}) -ament_add_gtest(test_service test_service.cpp) -target_link_libraries(test_service nav2_clear_costmap_service_bt_node) -ament_target_dependencies(test_service ${dependencies}) - ament_add_gtest(test_action_reinitialize_global_localization_service test_reinitialize_global_localization_service.cpp) target_link_libraries(test_action_reinitialize_global_localization_service nav2_reinitialize_global_localization_service_bt_node) ament_target_dependencies(test_action_reinitialize_global_localization_service ${dependencies})