Address code cov loss due to unclean shutdown (issue ros-navigation#3271

) (ros-navigation#3377) * Ensure that we break bonds in lifecycle node/manager prior to rcl_shutdown. Partial fix for Issue ros-navigation#3271 Signed-off-by: mbryan <matthew.bryan@dell.com> * Add unit tests for lifecycle_node rcl shutdown cb. For Issue ros-navigation#3271. Signed-off-by: mbryan <matthew.bryan@dell.com> * Ensure planner_server shuts down cleanly on SIGINT. Needed to ensure code coverage flushes. See Issue ros-navigation#3271. Signed-off-by: mbryan <matthew.bryan@dell.com> * Ensure costmap_2d_cloud does not seg fault on SIGINT. One of several clean shutdown issues being address via Issue ros-navigation#3271. Signed-off-by: mbryan <matthew.bryan@dell.com> * Fix flake8 issues in some test files Signed-off-by: mbryan <matthew.bryan@dell.com> --------- Signed-off-by: mbryan <matthew.bryan@dell.com> Co-authored-by: mbryan <matthew.bryan@dell.com>
savalena · Feb 1, 2023 · 3253414 · 3253414
1 parent f384243
commit 3253414
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Showing 3 changed files with 6 additions and 6 deletions.
diff --git a/nav2_bringup/launch/localization_launch.py b/nav2_bringup/launch/localization_launch.py
@@ -107,7 +107,7 @@ def generate_launch_description():
     load_nodes = GroupAction(
         condition=IfCondition(PythonExpression(['not ', use_composition])),
         actions=[
-            SetParameter("use_sim_time", use_sim_time),
+            SetParameter('use_sim_time', use_sim_time),
             Node(
                 condition=LaunchConfigurationEquals('map', ''),
                 package='nav2_map_server',
@@ -165,7 +165,7 @@ def generate_launch_description():
     load_composable_nodes = GroupAction(
         condition=IfCondition(use_composition),
         actions=[
-            SetParameter("use_sim_time", use_sim_time),
+            SetParameter('use_sim_time', use_sim_time),
             LoadComposableNodes(
                 target_container=container_name_full,
                 condition=LaunchConfigurationEquals('map', ''),

diff --git a/nav2_bringup/launch/navigation_launch.py b/nav2_bringup/launch/navigation_launch.py
@@ -108,7 +108,7 @@ def generate_launch_description():
     load_nodes = GroupAction(
         condition=IfCondition(PythonExpression(['not ', use_composition])),
         actions=[
-            SetParameter("use_sim_time", use_sim_time),
+            SetParameter('use_sim_time', use_sim_time),
             Node(
                 package='nav2_controller',
                 executable='controller_server',
@@ -193,7 +193,7 @@ def generate_launch_description():
     load_composable_nodes = GroupAction(
         condition=IfCondition(use_composition),
         actions=[
-            SetParameter("use_sim_time", use_sim_time),
+            SetParameter('use_sim_time', use_sim_time),
             LoadComposableNodes(
                 target_container=container_name_full,
                 composable_node_descriptions=[

diff --git a/nav2_bringup/launch/slam_launch.py b/nav2_bringup/launch/slam_launch.py
@@ -17,7 +17,7 @@
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction
+from launch.actions import DeclareLaunchArgument, GroupAction, IncludeLaunchDescription
 from launch.conditions import IfCondition, UnlessCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
@@ -81,7 +81,7 @@ def generate_launch_description():
 
     start_map_server = GroupAction(
         actions=[
-            SetParameter("use_sim_time", use_sim_time),
+            SetParameter('use_sim_time', use_sim_time),
             Node(
                 package='nav2_map_server',
                 executable='map_saver_server',