slim71's profile - activity

I've been trying to write some tests for my package, but with not much success until now...

I have a "PelicanUnit" node and in its constructor I require a path to a .sdf model: if that's not given, everything shuts down with a std::runtime_error. Now, using colcon test and Google Test, I've been trying to write sort of like smoketests for successful and unsuccessful launches. The failing case has been a little tricky, but in the end I've managed with this:

TEST(SmokeTests, ParseModelFailing) {
     // Initialize RCLCPP
     rclcpp::init(0, nullptr);
     EXPECT_THROW(
         {
             try {
                 PelicanUnit pelican;
             } catch (const std::exception& e) {
                 EXPECT_STREQ("Agent model could not be parsed!", e.what());
                 throw; // Re-throw the exception for Google Test to catch
             }
         }, 
         std::runtime_error);
     // Shutdown RCLCPP
     rclcpp::shutdown(); 
}

Unfortunately, I cannot find a way for the other test.

Up until now I've tried:

• launching the node from the test itself but I could not pass the config file I normally use with the standard launch file

  TEST(SmokeTests, Main) {
      // Useless, since the node itself does not parse arguments (?)
      char  arg0[] = "--params-file";
      char  arg1[] = "src/pelican/config/copter1.yaml"; // TODO: use package share directory
      char* argv[] = { &arg0[0], &arg1[0], NULL };
      int   argc   = (int)(sizeof(argv) / sizeof(argv[0])) - 1;
  
      // Initialization
      rclcpp::init(argc, argv);
  
      // Instantiation
      rclcpp::Node::SharedPtr node = std::make_shared<PelicanUnit>();
      rclcpp::executors::MultiThreadedExecutor executor;
  
      executor.add_node(node);
      executor.spin();
  
      rclcpp::shutdown();
  }
  

• using a test launch_file, which has been somewhat almost good, but the config file used has not been found and, most importantly, I'm not sure I can use this as a proper test. I can only test that the command is launched, not that the node itself fires up smoothly...

  TEST(SmokeTests, NodeStartingCorrectly) {
      // Set the launch file path and arguments
      const std::string pwd = "source ";
      const std::string launch_command = "ros2 launch pelican test_launch.launch.py";
  
      // Run the launch command and check its exit status
      std::system(pwd.c_str());
      int exit_status = std::system(launch_command.c_str());
      ASSERT_EQ(exit_status, 0);
  }
  

(launch file)

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from launch.substitutions import PathJoinSubstitution, ThisLaunchFileDir


def generate_launch_description():
    config_pkg_share = FindPackageShare('pelican')
    config_middleware = 'config/'

    ld =  LaunchDescription()

    config_file = 'copter1.yaml'

    node = Node(
            package='pelican',
            executable='pelican_unit',
            ros_arguments=['--params-file', 
                           PathJoinSubstitution([config_pkg_share, config_middleware, config_file])]
        )

    ld.add_action(node)

    return ld

Is there anyone that can provide some assistance or suggestions for this? Thank you!

In the end I've managed to do it like this: TEST(SmokeTests, NodeStartingCorrectly) { char arg0[] = "--ros-args";

[ROS2] Testing launch of Node I've been trying to write some tests for my package, but with not much success until now..

Hi all! In my project I'm spawning a thread which contains a while loop, simply like so:

std::thread worker([this]() { this->ballotCheckingThread(); });
std::unique_lock<std::mutex> lock(this->candidate_mutex_);

where the thread code is like this

void ballotCheckingThread() {
    while (!this->checkVotingCompleted() && !this->checkForExternalLeader()) {
        // Simulate some delay between checks
        std::this_thread::sleep_for(std::chrono::milliseconds(200));
    }

    // Notify the first thread to stop waiting
    cv.notify_all();
}

Unfortunately, when I use CTRL-C to terminate the node, this thread remains hanging and I have to manually kill it.

Right now in the main function I'm doing this:

int main(int argc, char *argv[]) {
    std::cout << "Starting  node..." << std::endl;
    setvbuf(stdout, NULL, _IONBF, BUFSIZ);
    rclcpp::init(argc, argv);

    rclcpp::Node::SharedPtr node = std::make_shared<myNode>();
    rclcpp::executors::MultiThreadedExecutor executor;
    executor.add_node(node);

    try {
        executor.spin();
    } catch (std::exception& e) {
        std::cout << "rclcpp shutting down..." << std::endl;
        rclcpp::shutdown();
        return 0;
    }

}

but I guess that's not enough. Is there a standard way to do this?

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Hi everyone! I'm trying to understand the best way to setup my environment for ROS2+Gazebo.

Up until now I was using an Ubuntu 22.04 VM with Virtualbox to get simple exercises up and running in ROS2, with no major problem. Since I have to go up a step and start a more complex system, plus I'll need Gazebo for simulations, I thought about how to improve the environment, given that there is always some kind of performance issue using VMs. It seems my options are:

• dual boot
• Docker
• Git Bash from CMD, as if I was actually on Unix

Since for simplicity of use, budget (can't get another laptop) and resources (my laptop's SDD is not that big) the dual boot is not an option, I moved to Docker. I set up the container (osrf/ros), I installed XLaunch for the GUI and successfully integrated Docker with WSL2. Everything following this guide

However, I can't seem to use my Nvidia graphic card. I've tried launching the turtlesim node + teleop, but it's laggy and slow and Task Manager does not show the process as executing with the Nvidia card.

Has anyone managed to successfully setup a similar environment? Or is there any other option that is actually better than this?

Thanks in advance!

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Hi,

I'm trying to learn as bet as possible ROS2, Gazebo and of course SDF and URDF files. I'm currently following some tutorials (a bit troublesome, given the different version of Gazebo/Ignition and the confusion about the name) on how to build robot models.

I've seen that often URDF models have a dummy link (almost always called base_link) which is empty and does nothing more than provide a "mounting point" of the robot to the world/ground, so to speak.

I'm failing to understand when and why this is needed, and I think this is giving me issues for the test model I'm building. Could someone please let me in on this?

Thanks! :D

EDIT: an example of what I'm referencing:

<link name="dummy"/>  
<joint name="dummy_to_base_link=" type="fixed">  
    <parent link="dummy"/>  
     <child link="base_link"/>  
< /joint>

Airght, I've reviewed what you linked in your edit and it is clearer to me now. Now then, I only have to figure out why

OK, so in general: the dummy link is to avoid the warning (or for other purposes) the base_link is the first link of

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[URDF] What is a dummy link needed for? Hi, I'm trying to learn as bet as possible ROS2, Gazebo and of course SDF and U

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ROS2 on Windows with NVidia GPU Hi everyone! I'm trying to understand the best way to setup my environment for ROS2+Gaze