Fixed tests that catch runtime errors, check for replan counts instead

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
open-rmf · Jan 7, 2025 · 46f1616 · 46f1616
1 parent 69195fe
commit 46f1616
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Showing 2 changed files with 32 additions and 122 deletions.
diff --git a/free_fleet_adapter/tests/integration/test_nav1_robot_adapter.py b/free_fleet_adapter/tests/integration/test_nav1_robot_adapter.py
@@ -20,7 +20,6 @@
 
 from free_fleet_adapter.nav1_robot_adapter import Nav1RobotAdapter
 import rclpy
-import rmf_adapter.easy_full_control as rmf_easy
 from tf2_ros import Buffer
 
 import zenoh
@@ -118,45 +117,6 @@ def test_robot_battery_soc(self):
         battery_soc = robot_adapter.get_battery_soc()
         assert math.isclose(battery_soc, 1.0)
 
-    def test_robot_unable_to_update(self):
-        tf_buffer = Buffer()
-
-        robot_adapter = Nav1RobotAdapter(
-            name='nav1_tb3',
-            configuration=None,
-            robot_config_yaml={
-                'initial_map': 'L1',
-            },
-            node=self.node,
-            zenoh_session=self.zenoh_session,
-            fleet_handle=None,
-            tf_buffer=tf_buffer
-        )
-
-        robot_exists = False
-        for i in range(10):
-            transform = robot_adapter.get_pose()
-            if transform is not None:
-                robot_exists = True
-                break
-            time.sleep(1)
-
-        assert robot_exists
-
-        able_to_update = False
-        try:
-            robot_adapter.update(
-                rmf_easy.RobotState(
-                    'L1',
-                    [0.0, 0.0, 0.0],
-                    1.0
-                )
-            )
-            able_to_update = True
-        except RuntimeError:
-            able_to_update = False
-        assert not able_to_update
-
     def test_idle_robot_navigate_is_done(self):
         tf_buffer = Buffer()
 
@@ -237,19 +197,15 @@ def test_robot_handle_navigate_to_invalid_map(self):
 
         assert robot_exists
 
-        able_to_handle_navigate = False
-        try:
-            robot_adapter._handle_navigate_to_pose(
-                'invalid_map',
-                0.0,
-                1.0,
-                2.0,
-                0.0
-            )
-            able_to_handle_navigate = True
-        except RuntimeError:
-            able_to_handle_navigate = False
-        assert not able_to_handle_navigate
+        prev_replan_count = robot_adapter.replan_counts
+        robot_adapter._handle_navigate_to_pose(
+            'invalid_map',
+            0.0,
+            1.0,
+            2.0,
+            0.0
+        )
+        assert robot_adapter.replan_counts == prev_replan_count + 1
 
     def test_robot_handle_navigate_to_pose(self):
         tf_buffer = Buffer()

diff --git a/free_fleet_adapter/tests/integration/test_nav2_robot_adapter.py b/free_fleet_adapter/tests/integration/test_nav2_robot_adapter.py
@@ -20,7 +20,6 @@
 
 from free_fleet_adapter.nav2_robot_adapter import Nav2RobotAdapter
 import rclpy
-import rmf_adapter.easy_full_control as rmf_easy
 from tf2_ros import Buffer
 
 import zenoh
@@ -108,35 +107,6 @@ def test_robot_battery_soc(self):
         battery_soc = robot_adapter.get_battery_soc()
         assert math.isclose(battery_soc, 1.0)
 
-    def test_robot_unable_to_update(self):
-        tf_buffer = Buffer()
-
-        robot_adapter = Nav2RobotAdapter(
-            name='nav2_tb3',
-            configuration=None,
-            robot_config_yaml={
-                'initial_map': 'L1',
-            },
-            node=self.node,
-            zenoh_session=self.zenoh_session,
-            fleet_handle=None,
-            tf_buffer=tf_buffer
-        )
-
-        able_to_update = False
-        try:
-            robot_adapter.update(
-                rmf_easy.RobotState(
-                    'L1',
-                    [0.0, 0.0, 0.0],
-                    1.0
-                )
-            )
-            able_to_update = True
-        except RuntimeError:
-            able_to_update = False
-        assert not able_to_update
-
     def test_idle_robot_navigate_is_done(self):
         tf_buffer = Buffer()
 
@@ -187,19 +157,15 @@ def test_robot_handle_navigate_to_invalid_map(self):
             tf_buffer=tf_buffer
         )
 
-        able_to_handle_navigate = False
-        try:
-            robot_adapter._handle_navigate_to_pose(
-                'invalid_map',
-                0.0,
-                1.0,
-                2.0,
-                0.0
-            )
-            able_to_handle_navigate = True
-        except RuntimeError:
-            able_to_handle_navigate = False
-        assert not able_to_handle_navigate
+        prev_replan_count = robot_adapter.replan_counts
+        robot_adapter._handle_navigate_to_pose(
+            'invalid_map',
+            0.0,
+            1.0,
+            2.0,
+            0.0
+        )
+        assert robot_adapter.replan_counts == prev_replan_count + 1
 
     def test_robot_handle_navigate_to_pose(self):
         tf_buffer = Buffer()
@@ -216,19 +182,13 @@ def test_robot_handle_navigate_to_pose(self):
             tf_buffer=tf_buffer
         )
 
-        able_to_handle_navigate = False
-        try:
-            robot_adapter._handle_navigate_to_pose(
-                'L1',
-                -0.395,
-                -0.606,
-                0.0,
-                0.0
-            )
-            able_to_handle_navigate = True
-        except RuntimeError:
-            able_to_handle_navigate = False
-        assert able_to_handle_navigate
+        robot_adapter._handle_navigate_to_pose(
+            'L1',
+            -0.395,
+            -0.606,
+            0.0,
+            0.0
+        )
         time.sleep(5)
         assert robot_adapter._is_navigation_done()
 
@@ -247,19 +207,13 @@ def test_robot_stop_navigate(self):
             tf_buffer=tf_buffer
         )
 
-        able_to_handle_navigate = False
-        try:
-            robot_adapter._handle_navigate_to_pose(
-                'L1',
-                1.808,
-                0.503,
-                0.0,
-                0.0
-            )
-            able_to_handle_navigate = True
-        except RuntimeError:
-            able_to_handle_navigate = False
-        assert able_to_handle_navigate
+        robot_adapter._handle_navigate_to_pose(
+            'L1',
+            1.808,
+            0.503,
+            0.0,
+            0.0
+        )
         assert not robot_adapter._is_navigation_done()
         time.sleep(1)
         robot_adapter._handle_stop_navigation()