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Fix unstable test in nav2 util #4894

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Merged
merged 3 commits into from
Feb 3, 2025
+9 −0
Merged

Fix unstable test in nav2 util #4894

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4e1bd4c
Fix unstable test in nav2 util
mini-1235 Feb 2, 2025
81c9396
Fix linting
mini-1235 Feb 2, 2025
675d9a8
Change 5s to 1s
mini-1235 Feb 3, 2025
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3 changes: 3 additions & 0 deletions nav2_util/include/nav2_util/simple_action_server.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -150,6 +150,9 @@ class SimpleActionServer
std::lock_guard<std::recursive_mutex> lock(update_mutex_);

if (!server_active_) {
RCLCPP_INFO(
node_logging_interface_->get_logger(),
"Action server is inactive. Rejecting the goal.");
return rclcpp_action::GoalResponse::REJECT;
}

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6 changes: 6 additions & 0 deletions nav2_util/test/test_actions.cpp
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Expand Up @@ -258,6 +258,7 @@ class ActionTest : public ::testing::Test

TEST_F(ActionTest, test_simple_action)
{
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
node_->activate_server();

// The goal for this invocation
Expand All @@ -272,6 +273,7 @@ TEST_F(ActionTest, test_simple_action)
future_goal_handle), rclcpp::FutureReturnCode::SUCCESS);

auto goal_handle = future_goal_handle.get();
EXPECT_NE(goal_handle, nullptr);

// Wait for the result
auto future_result = node_->action_client_->async_get_result(goal_handle);
Expand Down Expand Up @@ -320,6 +322,7 @@ TEST_F(ActionTest, test_simple_action_with_feedback)
future_goal_handle), rclcpp::FutureReturnCode::SUCCESS);

auto goal_handle = future_goal_handle.get();
EXPECT_NE(goal_handle, nullptr);

// Wait for the result
auto future_result = node_->action_client_->async_get_result(goal_handle);
Expand Down Expand Up @@ -364,6 +367,7 @@ TEST_F(ActionTest, test_simple_action_activation_cycling)
node_->deactivate_server();

auto goal_handle = future_goal_handle.get();
EXPECT_NE(goal_handle, nullptr);

// Wait for the result
auto future_result = node_->action_client_->async_get_result(goal_handle);
Expand Down Expand Up @@ -430,6 +434,7 @@ TEST_F(ActionTest, test_simple_action_preemption)
future_goal_handle), rclcpp::FutureReturnCode::SUCCESS);

auto goal_handle = future_goal_handle.get();
EXPECT_NE(goal_handle, nullptr);

// Wait for the result
auto future_result = node_->action_client_->async_get_result(goal_handle);
Expand Down Expand Up @@ -478,6 +483,7 @@ TEST_F(ActionTest, test_simple_action_preemption_after_succeeded)

// Get the results
auto goal_handle = future_goal_handle.get();
EXPECT_NE(goal_handle, nullptr);

// Wait for the result of initial goal
auto future_result = node_->action_client_->async_get_result(goal_handle);
Expand Down
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