Fix flaky costmap filters tests: (#3754)

1. Set forward_prune_distance to 1.0 to robot not getting lost 2. Correct map name for costmap filter tests
ros-navigation · Aug 11, 2023 · 9367e54 · 9367e54
1 parent 66596b0
commit 9367e54
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Showing 3 changed files with 3 additions and 2 deletions.
diff --git a/nav2_system_tests/src/costmap_filters/keepout_params.yaml b/nav2_system_tests/src/costmap_filters/keepout_params.yaml
@@ -119,6 +119,7 @@ controller_server:
       plugin: "dwb_core::DWBLocalPlanner"
       debug_trajectory_details: True
       prune_distance: 1.0
+      forward_prune_distance: 1.0
       min_vel_x: 0.0
       min_vel_y: 0.0
       max_vel_x: 0.26

diff --git a/nav2_system_tests/src/costmap_filters/test_keepout_launch.py b/nav2_system_tests/src/costmap_filters/test_keepout_launch.py
@@ -48,7 +48,7 @@ def generate_launch_description():
     param_substitutions = {
         'planner_server.ros__parameters.GridBased.use_astar': os.getenv('ASTAR'),
         'filter_mask_server.ros__parameters.yaml_filename': filter_mask_file,
-        'yaml_filename': filter_mask_file}
+        'map_server.ros__parameters.yaml_filename': map_yaml_file}
     configured_params = RewrittenYaml(
         source_file=params_file,
         root_key='',

diff --git a/nav2_system_tests/src/costmap_filters/test_speed_launch.py b/nav2_system_tests/src/costmap_filters/test_speed_launch.py
@@ -47,7 +47,7 @@ def generate_launch_description():
     param_substitutions = {
         'planner_server.ros__parameters.GridBased.use_astar': os.getenv('ASTAR'),
         'filter_mask_server.ros__parameters.yaml_filename': filter_mask_file,
-        'yaml_filename': filter_mask_file}
+        'map_server.ros__parameters.yaml_filename': map_yaml_file}
     configured_params = RewrittenYaml(
         source_file=params_file,
         root_key='',