Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Fix spin recovery test #2684

Merged
merged 14 commits into from
Nov 18, 2021
Merged

Fix spin recovery test #2684

Changes from all commits
Commits
Show all changes
14 commits
Select commit Hold shift + click to select a range
fb765f1
debugging flaky shutdown on plugin planner tests
SteveMacenski Nov 17, 2021
ab67968
adding independent tests
SteveMacenski Nov 17, 2021
29f63d1
adding types
SteveMacenski Nov 17, 2021
2157f1d
adding new QoS and fix param declares
SteveMacenski Nov 17, 2021
2c8b9a8
try this
SteveMacenski Nov 18, 2021
9f4bb4d
Merge branch 'main' into flaky
SteveMacenski Nov 18, 2021
f5c9389
try tihis
SteveMacenski Nov 18, 2021
46a86a1
try 10hz
SteveMacenski Nov 18, 2021
4c02cfb
try sleeping on setup
SteveMacenski Nov 18, 2021
d00bbde
add footprint pub
SteveMacenski Nov 18, 2021
ff1e3dd
adding additional pub for debug
SteveMacenski Nov 18, 2021
bb41a01
try adding a spin for debug types
SteveMacenski Nov 18, 2021
b1af820
replacing spin with sleep
SteveMacenski Nov 18, 2021
354076d
Merge branch 'main' into hi
SteveMacenski Nov 18, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions nav2_system_tests/src/recoveries/spin/spin_recovery_tester.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -162,7 +162,7 @@ bool SpinRecoveryTester::defaultSpinRecoveryTest(
sendFakeOdom(0.0);
}

rclcpp::spin_some(node_);
rclcpp::sleep_for(std::chrono::milliseconds(100));

auto goal_handle_future = client_ptr_->async_send_goal(goal_msg);

Expand Down Expand Up @@ -328,7 +328,7 @@ void SpinRecoveryTester::sendFakeOdom(float angle)

geometry_msgs::msg::PolygonStamped footprint;
footprint.header.frame_id = "odom";
footprint.header.stamp = rclcpp::Time();
footprint.header.stamp = node_->now();
footprint.polygon.points.resize(4);
footprint.polygon.points[0].x = 0.22;
footprint.polygon.points[0].y = 0.22;
Expand Down