Added utils test for broken rolling

Signed-off-by: Alberto Tudela <[email protected]>

.github/workflows/build.yml

@@ -28,13 +28,12 @@ jobs:
       - name: Setup ROS 2
         uses: ros-tooling/[email protected]
         with:
-          required-ros-distributions: rolling
+          required-ros-distributions: humble
       - name: Install dependencies
         uses: ros-tooling/[email protected]
         with:
           package-name: scitos2
-          target-ros2-distro: rolling
-          vcs-repo-file-url: ./.github/repos.repos # Until nav2 is released in rolling
+          target-ros2-distro: humble
           colcon-defaults: |
             {
               "build": {

scitos2_behavior_tree/CHANGELOG.rst

@@ -8,6 +8,7 @@ Changelog for package scitos2_behavior_tree
 * Improve formatting.
 * Add generate_scitos2_tree_nodes_xml.
 * Add unit testing.
+* The utils folder in test is just a copy of nav2_behavior_tree/test/utils because Rolling CI is currently broken. This will be removed once Rolling CI is fixed.
 
 0.3.0 (26-04-2023)
 ------------------

scitos2_behavior_tree/CMakeLists.txt

@@ -81,6 +81,10 @@ install(DIRECTORY include/
   DESTINATION include/
 )
 
+install(DIRECTORY test/utils/
+        DESTINATION include/${PROJECT_NAME}/utils/
+)
+
 install(FILES scitos2_tree_nodes.xml DESTINATION share/${PROJECT_NAME})
 install(FILES ${GENERATED_DIR}/plugins_list.hpp DESTINATION include/${PROJECT_NAME})
 

scitos2_behavior_tree/test/action/CMakeLists.txt

@@ -1,5 +1,3 @@
-find_package(nav2_behavior_tree REQUIRED)
-
 # Test for the emergency stop service
 ament_add_gtest(test_scitos2_action_emergency_stop_service
   test_emergency_stop_service.cpp

scitos2_behavior_tree/test/action/test_emergency_stop_service.cpp

@@ -22,7 +22,7 @@
 
 #include "behaviortree_cpp_v3/bt_factory.h"
 
-#include "nav2_behavior_tree/utils/test_service.hpp"
+#include "utils/test_service.hpp"
 #include "scitos2_behavior_tree/action/emergency_stop_service.hpp"
 
 class EmergencyStopService : public TestService<scitos2_msgs::srv::EmergencyStop>

scitos2_behavior_tree/test/action/test_reset_motor_stop_service.cpp

@@ -22,7 +22,7 @@
 
 #include "behaviortree_cpp_v3/bt_factory.h"
 
-#include "nav2_behavior_tree/utils/test_service.hpp"
+#include "utils/test_service.hpp"
 #include "scitos2_behavior_tree/action/reset_motor_stop_service.hpp"
 
 class ResetMotorStopService : public TestService<scitos2_msgs::srv::ResetMotorStop>

scitos2_behavior_tree/test/condition/test_is_bumper_activated_condition.cpp

@@ -21,7 +21,7 @@
 
 #include "scitos2_msgs/msg/bumper_status.hpp"
 
-#include "nav2_behavior_tree/utils/test_behavior_tree_fixture.hpp"
+#include "utils/test_behavior_tree_fixture.hpp"
 #include "scitos2_behavior_tree/condition/is_bumper_activated_condition.hpp"
 
 class IsBumperActivatedConditionTestFixture : public ::testing::Test

scitos2_behavior_tree/test/utils/test_behavior_tree_fixture.hpp

@@ -0,0 +1,93 @@
+// Copyright (c) 2018 Intel Corporation
+// Copyright (c) 2020 Sarthak Mittal
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef UTILS__TEST_BEHAVIOR_TREE_FIXTURE_HPP_
+#define UTILS__TEST_BEHAVIOR_TREE_FIXTURE_HPP_
+
+#include <gtest/gtest.h>
+#include <memory>
+#include <set>
+
+#include "behaviortree_cpp_v3/bt_factory.h"
+#include "rclcpp/rclcpp.hpp"
+
+#include "test_transform_handler.hpp"
+#include "test_dummy_tree_node.hpp"
+
+namespace nav2_behavior_tree
+{
+
+class BehaviorTreeTestFixture : public ::testing::Test
+{
+public:
+  static void SetUpTestCase()
+  {
+    node_ = std::make_shared<rclcpp::Node>("test_behavior_tree_fixture");
+    transform_handler_ = std::make_shared<nav2_behavior_tree::TransformHandler>(node_);
+    factory_ = std::make_shared<BT::BehaviorTreeFactory>();
+
+    config_ = new BT::NodeConfiguration();
+
+    // Create the blackboard that will be shared by all of the nodes in the tree
+    config_->blackboard = BT::Blackboard::create();
+    // Put items on the blackboard
+    config_->blackboard->set(
+      "node",
+      node_);
+    config_->blackboard->set(
+      "tf_buffer",
+      transform_handler_->getBuffer());
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "server_timeout",
+      std::chrono::milliseconds(20));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "bt_loop_duration",
+      std::chrono::milliseconds(10));
+    config_->blackboard->set("initial_pose_received", false);
+
+    transform_handler_->activate();
+    transform_handler_->waitForTransform();
+  }
+
+  static void TearDownTestCase()
+  {
+    transform_handler_->deactivate();
+    delete config_;
+    config_ = nullptr;
+    transform_handler_.reset();
+    node_.reset();
+    factory_.reset();
+  }
+
+protected:
+  static rclcpp::Node::SharedPtr node_;
+  static std::shared_ptr<nav2_behavior_tree::TransformHandler> transform_handler_;
+  static BT::NodeConfiguration * config_;
+  static std::shared_ptr<BT::BehaviorTreeFactory> factory_;
+};
+
+}  // namespace nav2_behavior_tree
+
+rclcpp::Node::SharedPtr nav2_behavior_tree::BehaviorTreeTestFixture::node_ = nullptr;
+
+std::shared_ptr<nav2_behavior_tree::TransformHandler>
+nav2_behavior_tree::BehaviorTreeTestFixture::transform_handler_ = nullptr;
+
+BT::NodeConfiguration * nav2_behavior_tree::BehaviorTreeTestFixture::config_ = nullptr;
+
+std::shared_ptr<BT::BehaviorTreeFactory>
+nav2_behavior_tree::BehaviorTreeTestFixture::factory_ = nullptr;
+
+#endif  // UTILS__TEST_BEHAVIOR_TREE_FIXTURE_HPP_

scitos2_behavior_tree/test/utils/test_dummy_tree_node.hpp

@@ -0,0 +1,59 @@
+// Copyright (c) 2018 Intel Corporation
+// Copyright (c) 2020 Sarthak Mittal
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef UTILS__TEST_DUMMY_TREE_NODE_HPP_
+#define UTILS__TEST_DUMMY_TREE_NODE_HPP_
+
+#include <behaviortree_cpp_v3/basic_types.h>
+#include <behaviortree_cpp_v3/action_node.h>
+
+namespace nav2_behavior_tree
+{
+
+/**
+ * @brief A Dummy TreeNode to be used as a child for testing nodes
+ * Returns the current status on tick without any execution logic
+ */
+class DummyNode : public BT::ActionNodeBase
+{
+public:
+  DummyNode()
+  : BT::ActionNodeBase("dummy", {})
+  {
+  }
+
+  void changeStatus(BT::NodeStatus status)
+  {
+    setStatus(status);
+  }
+
+  BT::NodeStatus executeTick() override
+  {
+    return tick();
+  }
+
+  BT::NodeStatus tick() override
+  {
+    return status();
+  }
+
+  void halt() override
+  {
+  }
+};
+
+}  // namespace nav2_behavior_tree
+
+#endif  // UTILS__TEST_DUMMY_TREE_NODE_HPP_

scitos2_behavior_tree/test/utils/test_service.hpp

@@ -0,0 +1,60 @@
+// Copyright (c) 2020 Sarthak Mittal
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef UTILS__TEST_SERVICE_HPP_
+#define UTILS__TEST_SERVICE_HPP_
+
+#include <string>
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+
+template<class ServiceT>
+class TestService : public rclcpp::Node
+{
+public:
+  explicit TestService(
+    std::string service_name,
+    const rclcpp::NodeOptions & options = rclcpp::NodeOptions())
+  : Node("test_service", options)
+  {
+    using namespace std::placeholders;  // NOLINT
+
+    server_ = create_service<ServiceT>(
+      service_name,
+      std::bind(&TestService::handle_service, this, _1, _2, _3));
+  }
+
+  std::shared_ptr<typename ServiceT::Request> getCurrentRequest() const
+  {
+    return current_request_;
+  }
+
+protected:
+  virtual void handle_service(
+    const std::shared_ptr<rmw_request_id_t> request_header,
+    const std::shared_ptr<typename ServiceT::Request> request,
+    const std::shared_ptr<typename ServiceT::Response> response)
+  {
+    (void)request_header;
+    (void)response;
+    current_request_ = request;
+  }
+
+private:
+  typename rclcpp::Service<ServiceT>::SharedPtr server_;
+  std::shared_ptr<typename ServiceT::Request> current_request_;
+};
+
+#endif  // UTILS__TEST_SERVICE_HPP_