Fix some tests and set hash in vcs

husarion · Nov 27, 2024 · b522f3b · b522f3b
1 parent a9a291d
commit b522f3b
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Showing 4 changed files with 23 additions and 29 deletions.
diff --git a/rosbot/rosbot_hardware.repos b/rosbot/rosbot_hardware.repos
@@ -2,20 +2,20 @@ repositories:
   rosbot_hardware_interfaces:
     type: git
     url: https://github.com/husarion/rosbot_hardware_interfaces.git
-    version: main
+    version: da1805839aaa21b8341a9c39498c96d9a1a4f87d
   ros_components_description:
     type: git
     url: https://github.com/husarion/ros_components_description.git
     version: 1cb25600afa5941d21d48c0af8e63ad2eb3afaa0
   husarion_controllers:
     type: git
     url: https://github.com/husarion/husarion_controllers
-    version: main
+    version: 217b09830f5f42930098b9992eda41710702b625
   micro_ros_msgs:
     type: git
     url: https://github.com/micro-ROS/micro_ros_msgs.git
-    version: humble
+    version: 10be4d005fbc7d8dd60dbb213b65f4171419bfe9
   micro-ROS-Agent:
     type: git
     url: https://github.com/micro-ROS/micro-ROS-Agent.git
-    version: humble
+    version: 30377bbd86ff7ea93ca69a3b37997fd235385e1f
diff --git a/rosbot/rosbot_simulation.repos b/rosbot/rosbot_simulation.repos
@@ -2,7 +2,7 @@ repositories:
   husarion_gz_worlds:
     type: git
     url: https://github.com/husarion/husarion_gz_worlds
-    version: main
+    version: c0ff83a476f6e0bc250c763a806bf1769a00f515
   ros2_controllers: # Bug: There is no nice way to change `sensor_name` imu_bradcaster param when spawning multiple robots -> ros2_control refer only to single imu entity
     type: git
     url: https://github.com/husarion/ros2_controllers/

diff --git a/rosbot_bringup/test/test_multirobot_ekf.py b/rosbot_bringup/test/test_multirobot_ekf.py
@@ -24,14 +24,14 @@
 from launch_ros.substitutions import FindPackageShare
 from test_utils import BringupTestNode
 
-robot_names = ["robot1", "robot2", "robot3"]
+robot_names = ["robot1", "robot2"]
 
 
 @launch_pytest.fixture
 def generate_test_description():
     rosbot_bringup = FindPackageShare("rosbot_bringup")
     actions = []
-    for i in range(len(robot_names)):
+    for robot_name in robot_names:
         bringup_launch = IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
                 PathJoinSubstitution(
@@ -45,7 +45,7 @@ def generate_test_description():
             launch_arguments={
                 "use_sim": "False",
                 "mecanum": "False",
-                "namespace": robot_names[i],
+                "namespace": robot_name,
             }.items(),
         )
 
@@ -56,19 +56,17 @@ def generate_test_description():
 
 @pytest.mark.launch(fixture=generate_test_description)
 def test_multirobot_bringup_startup_success():
+    rclpy.init()
     for robot_name in robot_names:
-        rclpy.init()
-        try:
-            node = BringupTestNode("test_bringup", namespace=robot_name)
-            node.create_test_subscribers_and_publishers()
-            node.start_publishing_fake_hardware()
+        node = BringupTestNode("test_bringup", namespace=robot_name)
+        node.create_test_subscribers_and_publishers()
+        node.start_publishing_fake_hardware()
 
-            node.start_node_thread()
-            msgs_received_flag = node.odom_msg_event.wait(timeout=20.0)
-            assert msgs_received_flag, (
-                f"Expected {robot_name}/odometry/filtered message but it was not received. "
-                "Check robot_localization!"
-            )
+        node.start_node_thread()
+        msgs_received_flag = node.odom_msg_event.wait(timeout=20.0)
+        assert msgs_received_flag, (
+            f"Expected {robot_name}/odometry/filtered message but it was not received. "
+            "Check robot_localization!"
+        )
 
-        finally:
-            rclpy.shutdown()
+    rclpy.shutdown()
diff --git a/rosbot_controller/launch/controller.launch.py b/rosbot_controller/launch/controller.launch.py
@@ -13,7 +13,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-# Import necessary modules
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, TimerAction
 from launch.conditions import UnlessCondition
@@ -27,7 +26,6 @@
 from launch_ros.actions import Node, SetParameter
 from launch_ros.substitutions import FindPackageShare
 
-
 def generate_launch_description():
     namespace = LaunchConfiguration("namespace")
     declare_namespace_arg = DeclareLaunchArgument(
@@ -86,8 +84,6 @@ def generate_launch_description():
             use_sim,
             " namespace:=",
             namespace,
-            # Uncomment the line below if you need to include the 'use_ros2_control' parameter
-            # " use_ros2_control:=True",
         ]
     )
     robot_description = {"robot_description": robot_description_content}
@@ -137,7 +133,7 @@ def generate_launch_description():
             "--controller-manager",
             controller_manager_name,
             "--controller-manager-timeout",
-            "10",
+            "20",
         ],
     )
 
@@ -149,7 +145,7 @@ def generate_launch_description():
             "--controller-manager",
             controller_manager_name,
             "--controller-manager-timeout",
-            "10",
+            "20",
         ],
     )
 
@@ -161,11 +157,11 @@ def generate_launch_description():
             "--controller-manager",
             controller_manager_name,
             "--controller-manager-timeout",
-            "10",
+            "20",
         ],
     )
 
-    # Wrap the spawner nodes in a TimerAction to delay execution by 2 seconds
+    # Wrap the spawner nodes in a TimerAction to delay execution by 1 seconds
     delayed_spawner_nodes = TimerAction(
         period=1.0,
         actions=[