Skip to content

Update cloned repo #4

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

Merged
SakshayMahna merged 7 commits into from
Sep 17, 2025
Merged

Update cloned repo #4

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
7 commits
Select commit Hold shift + click to select a range
627a8b6
Add debug topic to visualize whether MPPI critic has an effect on cos…
tonynajjar Sep 5, 2025
ab4aaf8
fix(nav2_theta_star_planner): Correct typo in CMakeLists ament_export…
JPLDevMaster Sep 7, 2025
8aea1a8
default empty constructor (#5518)
doisyg Sep 10, 2025
97de6f2
Feature/vector object server (#5479)
Sushant-Chavan Sep 11, 2025
b45fca2
Fix/dependency and header (#5520)
Sushant-Chavan Sep 15, 2025
2a803c2
Replace rclcpp::spin_some and rclcpp::spin_all (#5521)
mini-1235 Sep 16, 2025
4d05d23
feat(opennav_docking): add on-demand detector client & unit tests for…
bkoensgen Sep 16, 2025
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_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -53,11 +53,11 @@ class BtActionServer
const std::string & action_name,
const std::vector<std::string> & plugin_lib_names,
const std::string & default_bt_xml_filename,
const std::vector<std::string> & search_directories,
OnGoalReceivedCallback on_goal_received_callback,
OnLoopCallback on_loop_callback,
OnPreemptCallback on_preempt_callback,
OnCompletionCallback on_completion_callback);
OnCompletionCallback on_completion_callback,
const std::vector<std::string> & search_directories = std::vector<std::string>{});

/**
* @brief A destructor for nav2_behavior_tree::BtActionServer class
Expand Down
4 changes: 2 additions & 2 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -39,11 +39,11 @@ BtActionServer<ActionT, NodeT>::BtActionServer(
const std::string & action_name,
const std::vector<std::string> & plugin_lib_names,
const std::string & default_bt_xml_filename,
const std::vector<std::string> & search_directories,
OnGoalReceivedCallback on_goal_received_callback,
OnLoopCallback on_loop_callback,
OnPreemptCallback on_preempt_callback,
OnCompletionCallback on_completion_callback)
OnCompletionCallback on_completion_callback,
const std::vector<std::string> & search_directories)
: action_name_(action_name),
default_bt_xml_filename_(default_bt_xml_filename),
search_directories_(search_directories),
Expand Down
6 changes: 5 additions & 1 deletion nav2_behavior_tree/test/plugins/action/test_bt_action_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -202,15 +202,19 @@ class BTActionNodeTestFixture : public ::testing::Test
action_server_ = std::make_shared<FibonacciActionServer>();
server_thread_ = std::make_shared<std::thread>(
[]() {
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(action_server_);
while (rclcpp::ok() && BTActionNodeTestFixture::action_server_ != nullptr) {
rclcpp::spin_some(BTActionNodeTestFixture::action_server_);
executor.spin_some();
std::this_thread::sleep_for(100ns);
}
});
}

void TearDown() override
{
// Sleep for some time to avoid race condition
std::this_thread::sleep_for(std::chrono::milliseconds(80));
action_server_.reset();
tree_.reset();
server_thread_->join();
Expand Down
10 changes: 8 additions & 2 deletions nav2_behavior_tree/test/plugins/action/test_controller_selector_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,8 @@ class ControllerSelectorTestFixture : public ::testing::Test
static void SetUpTestCase()
{
node_ = std::make_shared<nav2::LifecycleNode>("controller_selector_test_fixture");
executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
executor_->add_node(node_->get_node_base_interface());

// Configure and activate the lifecycle node
node_->configure();
Expand Down Expand Up @@ -67,6 +69,7 @@ class ControllerSelectorTestFixture : public ::testing::Test
config_ = nullptr;
node_.reset();
factory_.reset();
executor_.reset();
}

void TearDown() override
Expand All @@ -76,12 +79,15 @@ class ControllerSelectorTestFixture : public ::testing::Test

protected:
static nav2::LifecycleNode::SharedPtr node_;
static rclcpp::executors::SingleThreadedExecutor::SharedPtr executor_;
static BT::NodeConfiguration * config_;
static std::shared_ptr<BT::BehaviorTreeFactory> factory_;
static std::shared_ptr<BT::Tree> tree_;
};

nav2::LifecycleNode::SharedPtr ControllerSelectorTestFixture::node_ = nullptr;
rclcpp::executors::SingleThreadedExecutor::SharedPtr ControllerSelectorTestFixture::executor_ =
nullptr;

BT::NodeConfiguration * ControllerSelectorTestFixture::config_ = nullptr;
std::shared_ptr<BT::BehaviorTreeFactory> ControllerSelectorTestFixture::factory_ = nullptr;
Expand Down Expand Up @@ -126,7 +132,7 @@ TEST_F(ControllerSelectorTestFixture, test_custom_topic)
tree_->rootNode()->executeTick();
controller_selector_pub->publish(selected_controller_cmd);

rclcpp::spin_some(node_->get_node_base_interface());
executor_->spin_some();
}

// check controller updated
Expand Down Expand Up @@ -173,7 +179,7 @@ TEST_F(ControllerSelectorTestFixture, test_default_topic)
tree_->rootNode()->executeTick();
controller_selector_pub->publish(selected_controller_cmd);

rclcpp::spin_some(node_->get_node_base_interface());
executor_->spin_some();
}

// check controller updated
Expand Down
10 changes: 8 additions & 2 deletions nav2_behavior_tree/test/plugins/action/test_goal_checker_selector_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,8 @@ class GoalCheckerSelectorTestFixture : public ::testing::Test
static void SetUpTestCase()
{
node_ = std::make_shared<nav2::LifecycleNode>("goal_checker_selector_test_fixture");
executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
executor_->add_node(node_->get_node_base_interface());

// Configure and activate the lifecycle node
node_->configure();
Expand Down Expand Up @@ -67,6 +69,7 @@ class GoalCheckerSelectorTestFixture : public ::testing::Test
config_ = nullptr;
node_.reset();
factory_.reset();
executor_.reset();
}

void TearDown() override
Expand All @@ -76,12 +79,15 @@ class GoalCheckerSelectorTestFixture : public ::testing::Test

protected:
static nav2::LifecycleNode::SharedPtr node_;
static rclcpp::executors::SingleThreadedExecutor::SharedPtr executor_;
static BT::NodeConfiguration * config_;
static std::shared_ptr<BT::BehaviorTreeFactory> factory_;
static std::shared_ptr<BT::Tree> tree_;
};

nav2::LifecycleNode::SharedPtr GoalCheckerSelectorTestFixture::node_ = nullptr;
rclcpp::executors::SingleThreadedExecutor::SharedPtr GoalCheckerSelectorTestFixture::executor_ =
nullptr;

BT::NodeConfiguration * GoalCheckerSelectorTestFixture::config_ = nullptr;
std::shared_ptr<BT::BehaviorTreeFactory> GoalCheckerSelectorTestFixture::factory_ = nullptr;
Expand Down Expand Up @@ -127,7 +133,7 @@ TEST_F(GoalCheckerSelectorTestFixture, test_custom_topic)
tree_->rootNode()->executeTick();
goal_checker_selector_pub->publish(selected_goal_checker_cmd);

rclcpp::spin_some(node_->get_node_base_interface());
executor_->spin_some();
}

// check goal_checker updated
Expand Down Expand Up @@ -175,7 +181,7 @@ TEST_F(GoalCheckerSelectorTestFixture, test_default_topic)
tree_->rootNode()->executeTick();
goal_checker_selector_pub->publish(selected_goal_checker_cmd);

rclcpp::spin_some(node_->get_node_base_interface());
executor_->spin_some();
}

// check goal_checker updated
Expand Down
10 changes: 8 additions & 2 deletions nav2_behavior_tree/test/plugins/action/test_planner_selector_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,8 @@ class PlannerSelectorTestFixture : public ::testing::Test
static void SetUpTestCase()
{
node_ = std::make_shared<nav2::LifecycleNode>("planner_selector_test_fixture");
executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
executor_->add_node(node_->get_node_base_interface());

// Configure and activate the lifecycle node
node_->configure();
Expand Down Expand Up @@ -65,6 +67,7 @@ class PlannerSelectorTestFixture : public ::testing::Test
config_ = nullptr;
node_.reset();
factory_.reset();
executor_.reset();
}

void TearDown() override
Expand All @@ -74,12 +77,15 @@ class PlannerSelectorTestFixture : public ::testing::Test

protected:
static nav2::LifecycleNode::SharedPtr node_;
static rclcpp::executors::SingleThreadedExecutor::SharedPtr executor_;
static BT::NodeConfiguration * config_;
static std::shared_ptr<BT::BehaviorTreeFactory> factory_;
static std::shared_ptr<BT::Tree> tree_;
};

nav2::LifecycleNode::SharedPtr PlannerSelectorTestFixture::node_ = nullptr;
rclcpp::executors::SingleThreadedExecutor::SharedPtr PlannerSelectorTestFixture::executor_ =
nullptr;

BT::NodeConfiguration * PlannerSelectorTestFixture::config_ = nullptr;
std::shared_ptr<BT::BehaviorTreeFactory> PlannerSelectorTestFixture::factory_ = nullptr;
Expand Down Expand Up @@ -125,7 +131,7 @@ TEST_F(PlannerSelectorTestFixture, test_custom_topic)
tree_->rootNode()->executeTick();
planner_selector_pub->publish(selected_planner_cmd);

rclcpp::spin_some(node_->get_node_base_interface());
executor_->spin_some();
}

// check planner updated
Expand Down Expand Up @@ -173,7 +179,7 @@ TEST_F(PlannerSelectorTestFixture, test_default_topic)
tree_->rootNode()->executeTick();
planner_selector_pub->publish(selected_planner_cmd);

rclcpp::spin_some(node_->get_node_base_interface());
executor_->spin_some();
}

// check planner updated
Expand Down
10 changes: 8 additions & 2 deletions nav2_behavior_tree/test/plugins/action/test_progress_checker_selector_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,8 @@ class ProgressCheckerSelectorTestFixture : public ::testing::Test
static void SetUpTestCase()
{
node_ = std::make_shared<nav2::LifecycleNode>("progress_checker_selector_test_fixture");
executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
executor_->add_node(node_->get_node_base_interface());

// Configure and activate the lifecycle node
node_->configure();
Expand Down Expand Up @@ -66,6 +68,7 @@ class ProgressCheckerSelectorTestFixture : public ::testing::Test
config_ = nullptr;
node_.reset();
factory_.reset();
executor_.reset();
}

void TearDown() override
Expand All @@ -75,12 +78,15 @@ class ProgressCheckerSelectorTestFixture : public ::testing::Test

protected:
static nav2::LifecycleNode::SharedPtr node_;
static rclcpp::executors::SingleThreadedExecutor::SharedPtr executor_;
static BT::NodeConfiguration * config_;
static std::shared_ptr<BT::BehaviorTreeFactory> factory_;
static std::shared_ptr<BT::Tree> tree_;
};

nav2::LifecycleNode::SharedPtr ProgressCheckerSelectorTestFixture::node_ = nullptr;
rclcpp::executors::SingleThreadedExecutor::SharedPtr ProgressCheckerSelectorTestFixture::
executor_ = nullptr;

BT::NodeConfiguration * ProgressCheckerSelectorTestFixture::config_ = nullptr;
std::shared_ptr<BT::BehaviorTreeFactory> ProgressCheckerSelectorTestFixture::factory_ = nullptr;
Expand Down Expand Up @@ -129,7 +135,7 @@ TEST_F(ProgressCheckerSelectorTestFixture, test_custom_topic)
tree_->rootNode()->executeTick();
progress_checker_selector_pub->publish(selected_progress_checker_cmd);

rclcpp::spin_some(node_->get_node_base_interface());
executor_->spin_some();
}

// check progress_checker updated
Expand Down Expand Up @@ -179,7 +185,7 @@ TEST_F(ProgressCheckerSelectorTestFixture, test_default_topic)
tree_->rootNode()->executeTick();
progress_checker_selector_pub->publish(selected_progress_checker_cmd);

rclcpp::spin_some(node_->get_node_base_interface());
executor_->spin_some();
}

// check goal_checker updated
Expand Down
10 changes: 8 additions & 2 deletions nav2_behavior_tree/test/plugins/action/test_smoother_selector_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,8 @@ class SmootherSelectorTestFixture : public ::testing::Test
static void SetUpTestCase()
{
node_ = std::make_shared<nav2::LifecycleNode>("smoother_selector_test_fixture");
executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
executor_->add_node(node_->get_node_base_interface());

// Configure and activate the lifecycle node
node_->configure();
Expand Down Expand Up @@ -67,6 +69,7 @@ class SmootherSelectorTestFixture : public ::testing::Test
config_ = nullptr;
node_.reset();
factory_.reset();
executor_.reset();
}

void TearDown() override
Expand All @@ -76,12 +79,15 @@ class SmootherSelectorTestFixture : public ::testing::Test

protected:
static nav2::LifecycleNode::SharedPtr node_;
static rclcpp::executors::SingleThreadedExecutor::SharedPtr executor_;
static BT::NodeConfiguration * config_;
static std::shared_ptr<BT::BehaviorTreeFactory> factory_;
static std::shared_ptr<BT::Tree> tree_;
};

nav2::LifecycleNode::SharedPtr SmootherSelectorTestFixture::node_ = nullptr;
rclcpp::executors::SingleThreadedExecutor::SharedPtr SmootherSelectorTestFixture::executor_ =
nullptr;

BT::NodeConfiguration * SmootherSelectorTestFixture::config_ = nullptr;
std::shared_ptr<BT::BehaviorTreeFactory> SmootherSelectorTestFixture::factory_ = nullptr;
Expand Down Expand Up @@ -127,7 +133,7 @@ TEST_F(SmootherSelectorTestFixture, test_custom_topic)
tree_->rootNode()->executeTick();
smoother_selector_pub->publish(selected_smoother_cmd);

rclcpp::spin_some(node_->get_node_base_interface());
executor_->spin_some();
}

// check smoother updated
Expand Down Expand Up @@ -175,7 +181,7 @@ TEST_F(SmootherSelectorTestFixture, test_default_topic)
tree_->rootNode()->executeTick();
smoother_selector_pub->publish(selected_smoother_cmd);

rclcpp::spin_some(node_->get_node_base_interface());
executor_->spin_some();
}

// check smoother updated
Expand Down
16 changes: 11 additions & 5 deletions nav2_behavior_tree/test/plugins/condition/test_is_battery_charging.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,8 @@ class IsBatteryChargingConditionTestFixture : public ::testing::Test
static void SetUpTestCase()
{
node_ = std::make_shared<nav2::LifecycleNode>("test_is_battery_charging");
executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
executor_->add_node(node_->get_node_base_interface());
factory_ = std::make_shared<BT::BehaviorTreeFactory>();

config_ = new BT::NodeConfiguration();
Expand Down Expand Up @@ -58,17 +60,21 @@ class IsBatteryChargingConditionTestFixture : public ::testing::Test
battery_pub_.reset();
node_.reset();
factory_.reset();
executor_.reset();
}

protected:
static nav2::LifecycleNode::SharedPtr node_;
static rclcpp::executors::SingleThreadedExecutor::SharedPtr executor_;
static BT::NodeConfiguration * config_;
static std::shared_ptr<BT::BehaviorTreeFactory> factory_;
static nav2::Publisher<sensor_msgs::msg::BatteryState>::SharedPtr
battery_pub_;
};

nav2::LifecycleNode::SharedPtr IsBatteryChargingConditionTestFixture::node_ = nullptr;
rclcpp::executors::SingleThreadedExecutor::SharedPtr IsBatteryChargingConditionTestFixture::
executor_ = nullptr;
BT::NodeConfiguration * IsBatteryChargingConditionTestFixture::config_ = nullptr;
std::shared_ptr<BT::BehaviorTreeFactory> IsBatteryChargingConditionTestFixture::factory_ = nullptr;
nav2::Publisher<sensor_msgs::msg::BatteryState>::SharedPtr
Expand All @@ -90,32 +96,32 @@ TEST_F(IsBatteryChargingConditionTestFixture, test_behavior_power_supply_status)
battery_msg.power_supply_status = sensor_msgs::msg::BatteryState::POWER_SUPPLY_STATUS_UNKNOWN;
battery_pub_->publish(battery_msg);
std::this_thread::sleep_for(std::chrono::milliseconds(100));
rclcpp::spin_some(node_->get_node_base_interface());
executor_->spin_some();
EXPECT_EQ(tree.tickOnce(), BT::NodeStatus::FAILURE);

battery_msg.power_supply_status = sensor_msgs::msg::BatteryState::POWER_SUPPLY_STATUS_CHARGING;
battery_pub_->publish(battery_msg);
std::this_thread::sleep_for(std::chrono::milliseconds(100));
rclcpp::spin_some(node_->get_node_base_interface());
executor_->spin_some();
EXPECT_EQ(tree.tickOnce(), BT::NodeStatus::SUCCESS);

battery_msg.power_supply_status = sensor_msgs::msg::BatteryState::POWER_SUPPLY_STATUS_DISCHARGING;
battery_pub_->publish(battery_msg);
std::this_thread::sleep_for(std::chrono::milliseconds(100));
rclcpp::spin_some(node_->get_node_base_interface());
executor_->spin_some();
EXPECT_EQ(tree.tickOnce(), BT::NodeStatus::FAILURE);

battery_msg.power_supply_status =
sensor_msgs::msg::BatteryState::POWER_SUPPLY_STATUS_NOT_CHARGING;
battery_pub_->publish(battery_msg);
std::this_thread::sleep_for(std::chrono::milliseconds(100));
rclcpp::spin_some(node_->get_node_base_interface());
executor_->spin_some();
EXPECT_EQ(tree.tickOnce(), BT::NodeStatus::FAILURE);

battery_msg.power_supply_status = sensor_msgs::msg::BatteryState::POWER_SUPPLY_STATUS_FULL;
battery_pub_->publish(battery_msg);
std::this_thread::sleep_for(std::chrono::milliseconds(100));
rclcpp::spin_some(node_->get_node_base_interface());
executor_->spin_some();
EXPECT_EQ(tree.tickOnce(), BT::NodeStatus::FAILURE);
}

Expand Down
Loading
Loading