fix some tests

nav2_bringup/launch/bringup_launch.py

@@ -22,8 +22,8 @@
 from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, PythonExpression
-from launch_ros.actions import PushRosNamespace
 from launch_ros.actions import Node
+from launch_ros.actions import PushRosNamespace
 from nav2_common.launch import RewrittenYaml
 
 

nav2_bringup/launch/localization_launch.py

@@ -20,8 +20,8 @@
 from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
 from launch.conditions import IfCondition
 from launch.substitutions import LaunchConfiguration, PythonExpression
-from launch_ros.actions import Node
 from launch_ros.actions import LoadComposableNodes
+from launch_ros.actions import Node
 from launch_ros.descriptions import ComposableNode
 from nav2_common.launch import RewrittenYaml
 

nav2_bringup/launch/navigation_launch.py

@@ -20,8 +20,8 @@
 from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
 from launch.conditions import IfCondition
 from launch.substitutions import LaunchConfiguration, PythonExpression
-from launch_ros.actions import Node
 from launch_ros.actions import LoadComposableNodes
+from launch_ros.actions import Node
 from launch_ros.descriptions import ComposableNode
 from nav2_common.launch import RewrittenYaml
 

nav2_simple_commander/nav2_simple_commander/robot_navigator.py

@@ -30,8 +30,8 @@
 from nav2_msgs.srv import ClearEntireCostmap, GetCostmap, LoadMap, ManageLifecycleNodes
 
 import rclpy
-from rclpy.duration import Duration as rclpyDuration
 from rclpy.action import ActionClient
+from rclpy.duration import Duration as rclpyDuration
 from rclpy.node import Node
 from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy
 from rclpy.qos import QoSProfile, QoSReliabilityPolicy

nav2_smac_planner/test/test_a_star.cpp

@@ -225,7 +225,7 @@ TEST(AStarTest, test_a_star_lattice)
 
   // check path is the right size and collision free
   EXPECT_EQ(num_it, 21);
-  EXPECT_EQ(path.size(), 47u);
+  EXPECT_EQ(path.size(), 48u);
   for (unsigned int i = 0; i != path.size(); i++) {
     EXPECT_EQ(costmapA->getCost(path[i].x, path[i].y), 0);
   }

nav2_system_tests/src/costmap_filters/CMakeLists.txt

@@ -8,6 +8,7 @@ ament_add_test(test_keepout_filter
     TEST_MAP=${PROJECT_SOURCE_DIR}/maps/map_circular.yaml
     TEST_MASK=${PROJECT_SOURCE_DIR}/maps/keepout_mask.yaml
     TEST_WORLD=${PROJECT_SOURCE_DIR}/worlds/turtlebot3_ros2_demo.world
+    PARAMS_FILE=${CMAKE_CURRENT_SOURCE_DIR}/keepout_params.yaml
     GAZEBO_MODEL_PATH=${PROJECT_SOURCE_DIR}/models
     BT_NAVIGATOR_XML=navigate_to_pose_w_replanning_and_recovery.xml
     ASTAR=False

nav2_system_tests/src/costmap_filters/keepout_params.yaml

@@ -109,7 +109,7 @@ controller_server:
     min_y_velocity_threshold: 0.5
     min_theta_velocity_threshold: 0.001
     progress_checker_plugin: "progress_checker"
-    goal_checker_plugins: "goal_checker"
+    goal_checker_plugins: ["goal_checker"]
     controller_plugins: ["FollowPath"]
 
     # Progress checker parameters

nav2_system_tests/src/costmap_filters/speed_global_params.yaml

@@ -111,7 +111,7 @@ controller_server:
     min_theta_velocity_threshold: 0.001
     speed_limit_topic: "/speed_limit"
     progress_checker_plugin: "progress_checker"
-    goal_checker_plugins: "goal_checker"
+    goal_checker_plugins: ["goal_checker"]
     controller_plugins: ["FollowPath"]
 
     # Progress checker parameters

nav2_system_tests/src/costmap_filters/speed_local_params.yaml

@@ -111,7 +111,7 @@ controller_server:
     min_theta_velocity_threshold: 0.001
     speed_limit_topic: "/speed_limit"
     progress_checker_plugin: "progress_checker"
-    goal_checker_plugins: "goal_checker"
+    goal_checker_plugins: ["goal_checker"]
     controller_plugins: ["FollowPath"]
 
     # Progress checker parameters

nav2_system_tests/src/costmap_filters/test_keepout_launch.py

@@ -86,7 +86,12 @@ def generate_launch_description():
             executable='lifecycle_manager',
             name='lifecycle_manager_filters',
             output='screen',
-            parameters=[{'node_names': ['filter_mask_server', 'costmap_filter_info_server']},
+            parameters=[{
+                            'node_names':
+                            [
+                                'filter_mask_server', 'costmap_filter_info_server', 'bt_navigator'
+                            ]
+                        },
                         {'autostart': True}]),
 
         # Nodes required for Costmap Filters configuration

nav2_system_tests/src/costmap_filters/test_speed_launch.py

@@ -84,7 +84,12 @@ def generate_launch_description():
             executable='lifecycle_manager',
             name='lifecycle_manager_filters',
             output='screen',
-            parameters=[{'node_names': ['filter_mask_server', 'costmap_filter_info_server']},
+            parameters=[{
+                            'node_names':
+                            [
+                                'filter_mask_server', 'costmap_filter_info_server', 'bt_navigator'
+                            ]
+                        },
                         {'autostart': True}]),
 
         # Nodes required for Costmap Filters configuration