Run-time system test for keepout_filter

nav2_system_tests/maps/keepout_mask.yaml

@@ -1,6 +1,8 @@
 image: keepout_mask.pgm
-resolution: 0.1
-origin: [-5.0, -5.0, 0.0]
+resolution: 0.050000
+origin: [-10.000000, -10.000000, 0.000000]
 negate: 0
 occupied_thresh: 0.65
-free_thresh: 0.25
+free_thresh: 0.196
+map_type: occupancy
+

nav2_system_tests/src/costmap_filters/CMakeLists.txt

@@ -1,24 +1,14 @@
-find_package(nav2_costmap_2d REQUIRED)
-
-set(test_keepout_filter_exec test_keepout_filter)
-
-ament_add_gtest_executable(${test_keepout_filter_exec}
-  test_keepout_filter.cpp filters_tester.cpp
-)
-ament_target_dependencies(${test_keepout_filter_exec}
-  ${dependencies}
-  nav2_costmap_2d
-)
-
 ament_add_test(test_keepout_filter
   GENERATE_RESULT_FOR_RETURN_CODE_ZERO
-  COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/costmap_filters_tests_launch.py"
+  COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_keepout_launch.py"
   WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
-  TIMEOUT 120
+  TIMEOUT 180
   ENV
-    TEST_MAP=${PROJECT_SOURCE_DIR}/maps/filters_room.yaml
+    TEST_DIR=${CMAKE_CURRENT_SOURCE_DIR}
+    TEST_MAP=${PROJECT_SOURCE_DIR}/maps/map_circular.yaml
     TEST_MASK=${PROJECT_SOURCE_DIR}/maps/keepout_mask.yaml
-    FILTER_PARAMS=${PROJECT_SOURCE_DIR}/params/keepout_params.yaml
-    TEST_LAUNCH_DIR=${TEST_LAUNCH_DIR}
-    TEST_EXECUTABLE=$<TARGET_FILE:${test_keepout_filter_exec}>
+    TEST_WORLD=${PROJECT_SOURCE_DIR}/worlds/turtlebot3_ros2_demo.world
+    GAZEBO_MODEL_PATH=${PROJECT_SOURCE_DIR}/models
+    BT_NAVIGATOR_XML=navigate_w_replanning_and_recovery.xml
+    ASTAR=False
 )