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test: rai_sim tests #437

Merged
merged 27 commits into from
Feb 27, 2025
Merged

test: rai_sim tests #437

merged 27 commits into from
Feb 27, 2025

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MagdalenaKotynia
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@MagdalenaKotynia MagdalenaKotynia commented Feb 26, 2025 •
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Purpose

To write unittests and docstrings for rai_sim package.

Proposed Changes

  • Unit tests for SimulationBridge interface and data models.
  • Unit tests for O3DExROS2Bridge with emphasis on testing compatibility with ROS2ARIConnector
  • Updated README with new naming
  • Docstrings
  • applied some requested changed from review of feat: simulation and benchmark suite #435
  • refactored, fixed and improved _is_ros2_stack_ready method

Issues

Testing

Tests

pytest tests/rai_sim

test _is_ros2_stack_ready method

Follow the instructions in #435 (comment)
BUT use the following content of the o3de_config.yaml:

binary_path: /path/to/your/GameLauncher
robotic_stack_command: ros2 launch examples/manipulation-demo-no-binary.launch.py
required_simulation_ros2_interfaces:
  services:
    - /spawn_entity
    - /delete_entity
  topics:
    - /color_image5
    - /depth_image5
    - /color_camera_info5
  actions: []
required_robotic_ros2_interfaces:
  services:
    - /grounding_dino_classify
    - /grounded_sam_segment
    - /manipulator_move_to
  topics: []
  actions: []

Important info for person merging this PR

Remember about changing o3de_config.yaml in #435 description

@MagdalenaKotynia MagdalenaKotynia marked this pull request as ready for review February 26, 2025 10:30
@MagdalenaKotynia
docs: added docstrings to simulation bridge interface
b98c455
@MagdalenaKotynia
refactor: signed private methods with underscore
47d3e9b
@MagdalenaKotynia
fix: add default value to optional rotation in PoseModel
d0ce841
@MagdalenaKotynia
test: tests for base models of simulation bridge
dd08946
@MagdalenaKotynia
test: test SimulationBridge
2016c4e
@MagdalenaKotynia
test: test load o3dexros2 config
0a47763
@MagdalenaKotynia
test: test launch and shutdown
621be31
@MagdalenaKotynia
test: get_available_spawnable, from_ros2_pose, to_ros2_pose tests
d80c2fa
@MagdalenaKotynia
test: test required components of ROS2ARIConnector
2c27c4a
@MagdalenaKotynia
refactor: moved fixtures to conftest
bccb2c4
@MagdalenaKotynia
docs: apply new naming in README
6f1abb7
@MagdalenaKotynia
license: added missing license lines in tests
9f1400e
@MagdalenaKotynia
fix: add missing required services, actions and topics to test configs
5563434
@MagdalenaKotynia
test: check if get_topics/service_names_and_types methods are present…
225c275 
… in the connector
@MagdalenaKotynia
fix: replace check of ros2 get_service_names_and_types with checking …
1aca628 
…if node property exists in ROS2ARIConnector
@MagdalenaKotynia
test: test signature of get_topics_names_and_services and node property
b3f12d9
@MagdalenaKotynia
fix; removed unused check if type is a tuple after refactor
c402568
@MagdalenaKotynia
refactor: renamed PoseModel to Pose and import ros2 Pose as ROS2Pose
c6bb579
@MagdalenaKotynia
chore: removed unnecesary comment
a43f145
@MagdalenaKotynia
build: added rai_sim and rai_bench to PYTHONPATH in setup_shell.sh
a3e2dfa
@MagdalenaKotynia
fix: removed workaround for already fixed bug in gazebo_msgs/srv/GetW…
3e821da 
…orldProperties service
@MagdalenaKotynia
refactor: refactor of is_ros2_stack_ready method, handling ros2 actio…
38402c6 
…ns checking, improved logging of waiting for not yet available services, actions and topics
@MagdalenaKotynia
test: adjusted tests after refactor of _is_ros2_stack_ready method
9b4e8df
@maciejmajek maciejmajek merged commit 3fff1b2 into feat/simbench Feb 27, 2025
2 checks passed
@maciejmajek maciejmajek deleted the tests/rai_sim branch February 27, 2025 15:59
MagdalenaKotynia added a commit that referenced this pull request Feb 28, 2025
@MagdalenaKotynia
fix: add missing do_transform_pose missed after rebase and merge of #437
1504bda
@MagdalenaKotynia MagdalenaKotynia mentioned this pull request Feb 28, 2025
Merged
maciejmajek pushed a commit that referenced this pull request Mar 7, 2025
@MagdalenaKotynia @maciejmajek
test: rai_sim tests (#437)
3b23d19
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@maciejmajek maciejmajek Awaiting requested review from maciejmajek

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@MagdalenaKotynia @maciejmajek