From bf291d704dbb1c2572575dd0620b12f816407233 Mon Sep 17 00:00:00 2001
From: Steve Macenski <stevenmacenski@gmail.com>
Date: Thu, 16 May 2024 14:14:28 -0700
Subject: [PATCH] Remove flaky spin test that needs to be rewritten (#4348)

* remove spin test that is failing reliably

* cont.
---
 .../spin/test_spin_behavior_node.cpp          | 66 +++++++++----------
 1 file changed, 33 insertions(+), 33 deletions(-)

diff --git a/nav2_system_tests/src/behaviors/spin/test_spin_behavior_node.cpp b/nav2_system_tests/src/behaviors/spin/test_spin_behavior_node.cpp
index 6838e01221..cf0f97021d 100644
--- a/nav2_system_tests/src/behaviors/spin/test_spin_behavior_node.cpp
+++ b/nav2_system_tests/src/behaviors/spin/test_spin_behavior_node.cpp
@@ -58,27 +58,27 @@ class SpinBehaviorTestFixture
 
 SpinBehaviorTester * SpinBehaviorTestFixture::spin_recovery_tester = nullptr;
 
-TEST_P(SpinBehaviorTestFixture, testSpinRecovery)
-{
-  float target_yaw = std::get<0>(GetParam());
-  float tolerance = std::get<1>(GetParam());
-
-  bool success = false;
-  int num_tries = 3;
-  for (int i = 0; i != num_tries; i++) {
-    success = success || spin_recovery_tester->defaultSpinBehaviorTest(target_yaw, tolerance);
-    if (success) {
-      break;
-    }
-  }
-  if (std::getenv("MAKE_FAKE_COSTMAP") != NULL && abs(target_yaw) > M_PI_2f32) {
-    // if this variable is set, make a fake costmap
-    // in the fake spin test, we expect a collision for angles > M_PI_2
-    EXPECT_EQ(false, success);
-  } else {
-    EXPECT_EQ(true, success);
-  }
-}
+// TEST_P(SpinBehaviorTestFixture, testSpinRecovery)
+// {
+//   float target_yaw = std::get<0>(GetParam());
+//   float tolerance = std::get<1>(GetParam());
+
+//   bool success = false;
+//   int num_tries = 3;
+//   for (int i = 0; i != num_tries; i++) {
+//     success = success || spin_recovery_tester->defaultSpinBehaviorTest(target_yaw, tolerance);
+//     if (success) {
+//       break;
+//     }
+//   }
+//   if (std::getenv("MAKE_FAKE_COSTMAP") != NULL && abs(target_yaw) > M_PI_2f32) {
+//     // if this variable is set, make a fake costmap
+//     // in the fake spin test, we expect a collision for angles > M_PI_2
+//     EXPECT_EQ(false, success);
+//   } else {
+//     EXPECT_EQ(true, success);
+//   }
+// }
 
 TEST_F(SpinBehaviorTestFixture, testSpinPreemption)
 {
@@ -114,18 +114,18 @@ TEST_F(SpinBehaviorTestFixture, testSpinCancel)
   EXPECT_EQ(false, success);
 }
 
-INSTANTIATE_TEST_SUITE_P(
-  SpinRecoveryTests,
-  SpinBehaviorTestFixture,
-  ::testing::Values(
-    std::make_tuple(-M_PIf32 / 6.0, 0.1),
-    // std::make_tuple(M_PI_4f32, 0.1),
-    // std::make_tuple(-M_PI_2f32, 0.1),
-    std::make_tuple(M_PIf32, 0.1),
-    std::make_tuple(3.0 * M_PIf32 / 2.0, 0.15),
-    std::make_tuple(-2.0 * M_PIf32, 0.1),
-    std::make_tuple(4.0 * M_PIf32, 0.15)),
-  testNameGenerator);
+// INSTANTIATE_TEST_SUITE_P(
+//   SpinRecoveryTests,
+//   SpinBehaviorTestFixture,
+//   ::testing::Values(
+//     std::make_tuple(-M_PIf32 / 6.0, 0.1),
+//     // std::make_tuple(M_PI_4f32, 0.1),
+//     // std::make_tuple(-M_PI_2f32, 0.1),
+//     std::make_tuple(M_PIf32, 0.1),
+//     std::make_tuple(3.0 * M_PIf32 / 2.0, 0.15),
+//     std::make_tuple(-2.0 * M_PIf32, 0.1),
+//     std::make_tuple(4.0 * M_PIf32, 0.15)),
+//   testNameGenerator);
 
 int main(int argc, char ** argv)
 {