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Fix system_tests flaky issue #1723

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Merged
SteveMacenski merged 3 commits into from
May 14, 2020
Merged

Fix system_tests flaky issue #1723

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e2e8e70
Return back planning system tests
AlexeyMerzlyakov May 12, 2020
ebfd2b6
Fix testcase failure related to not updating costmap
AlexeyMerzlyakov May 13, 2020
beac064
Fix flake8 E128 failure
AlexeyMerzlyakov May 14, 2020
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2 changes: 1 addition & 1 deletion nav2_system_tests/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,7 @@ if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
find_package(ament_cmake_pytest REQUIRED)

# add_subdirectory(src/planning)
add_subdirectory(src/planning)
add_subdirectory(src/localization)
add_subdirectory(src/system)
add_subdirectory(src/updown)
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3 changes: 2 additions & 1 deletion nav2_system_tests/src/planning/planner_tester.hpp
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Expand Up @@ -67,7 +67,8 @@ class NavFnPlannerTester : public nav2_planner::PlannerServer
costmap_ros_->getCostmap()->resizeMap(
prop.size_x, prop.size_y,
prop.resolution, prop.origin.position.x, prop.origin.position.x);
unsigned char * costmap_ptr = costmap_ros_->getCostmap()->getCharMap();
// Volatile prevents compiler from treating costmap_ptr as unused or changing its address
volatile unsigned char * costmap_ptr = costmap_ros_->getCostmap()->getCharMap();
delete[] costmap_ptr;
costmap_ptr = new unsigned char[prop.size_x * prop.size_y];
std::copy(cm.data.begin(), cm.data.end(), costmap_ptr);
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4 changes: 2 additions & 2 deletions nav2_system_tests/src/system/test_multi_robot_launch.py
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Expand Up @@ -41,9 +41,9 @@ def generate_launch_description():

bringup_dir = get_package_share_directory('nav2_bringup')
robot1_params_file = os.path.join(bringup_dir, # noqa: F841
'params/nav2_multirobot_params_1.yaml')
'params/nav2_multirobot_params_1.yaml')
robot2_params_file = os.path.join(bringup_dir, # noqa: F841
'params/nav2_multirobot_params_2.yaml')
'params/nav2_multirobot_params_2.yaml')

# Names and poses of the robots
robots = [
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