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Check preempted in navigating to staging pose #57

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merged 8 commits into from
Aug 7, 2024
Merged

Check preempted in navigating to staging pose #57

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56ccebf
Check preempted in navigating to staging pose
redvinaa Jul 30, 2024
37b649f
Requested changes
redvinaa Jul 31, 2024
053fac5
Requested changes vol 2
redvinaa Jul 31, 2024
1df3d83
Requested changes vol 3
redvinaa Aug 1, 2024
365ea81
Fix tests
redvinaa Aug 2, 2024
e523c31
Fix remaining time calculation
redvinaa Aug 3, 2024
e705cc3
Document missing args
redvinaa Aug 3, 2024
6861a05
Lint
redvinaa Aug 7, 2024
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Fix tests 
Signed-off-by: redvinaa <redvinaa@gmail.com>
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@redvinaa
redvinaa committed Aug 2, 2024
commit 365ea81ec41cc3ca9e38ee5f2b1a29745d9a84d6
19 changes: 15 additions & 4 deletions opennav_docking/test/test_navigator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include <functional>

#include "gtest/gtest.h"
#include "rclcpp/rclcpp.hpp"
#include "nav2_util/simple_action_server.hpp"
Expand Down Expand Up @@ -94,26 +96,35 @@ TEST(NavigatorTests, TestNavigator)
auto navigator = std::make_unique<Navigator>(node);
navigator->activate();

std::function<bool()> is_preempted_true = []() {return true;};
std::function<bool()> is_preempted_false = []() {return false;};

// Should succeed, action server set to succeed
dummy_navigator_node->setReturn(true);
EXPECT_NO_THROW(
navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0)));
navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0), is_preempted_false));

// Should fail, timeout exceeded
EXPECT_THROW(
navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(0.0, 0.0)),
navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(0.0, 0.0), is_preempted_false),
opennav_docking_core::FailedToStage);

// Should fail, action server set to succeed
dummy_navigator_node->setReturn(false);
EXPECT_THROW(
navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0)),
navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0), is_preempted_false),
opennav_docking_core::FailedToStage);

// First should fail, recursion should succeed
dummy_navigator_node->setToggle();
EXPECT_NO_THROW(
navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0)));
navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0), is_preempted_false));

// Should fail, preempted
dummy_navigator_node->setReturn(true);
EXPECT_THROW(
navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0), is_preempted_true),
opennav_docking_core::FailedToStage);

navigator->deactivate();
navigator.reset();
Expand Down