Fix imports, lint, new cmake and action argument to split nav1 or nav…

…2 integration tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
open-rmf · Dec 26, 2024 · b9702bf · b9702bf
1 parent cddbf9a
commit b9702bf
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Showing 5 changed files with 26 additions and 10 deletions.
diff --git a/.github/actions/build-and-test/action.yaml b/.github/actions/build-and-test/action.yaml
@@ -7,7 +7,11 @@ inputs:
   zenoh-version:
     description: string, version of eclipse-zenoh to install from pip
     required: true
-  integration-testing:
+  nav1-integration-testing:
+    description: string, supports ON or OFF only
+    required: false
+    default: "OFF"
+  nav2-integration-testing:
     description: string, supports ON or OFF only
     required: false
     default: "OFF"
@@ -34,7 +38,8 @@ runs:
           {
             "build": {
               "cmake-args": [
-                  "-DINTEGRATION_TESTING=${{ inputs.integration-testing }}"
+                  "-DNAV1_INTEGRATION_TESTING=${{ inputs.nav1-integration-testing }}",
+                  "-DNAV2_INTEGRATION_TESTING=${{ inputs.nav2-integration-testing }}"
               ],
               "mixin": ["coverage-pytest"]
             },

diff --git a/.github/workflows/nav1-integration-tests.yaml b/.github/workflows/nav1-integration-tests.yaml
@@ -29,7 +29,7 @@ jobs:
         with:
           ros-distribution: ${{ matrix.ros_distribution }}
           zenoh-version: 1.1.0
-          integration-testing: ON
+          nav1-integration-testing: ON
 
       - name: Stop test fixture containers
         if: always()

diff --git a/.github/workflows/nav2-integration-tests.yaml b/.github/workflows/nav2-integration-tests.yaml
@@ -29,7 +29,7 @@ jobs:
         with:
           ros-distribution: ${{ matrix.ros_distribution }}
           zenoh-version: 1.1.0
-          integration-testing: ON
+          nav2-integration-testing: ON
 
       - name: Stop test fixture containers
         if: always()

diff --git a/free_fleet_adapter/CMakeLists.txt b/free_fleet_adapter/CMakeLists.txt
@@ -34,9 +34,8 @@ if(BUILD_TESTING)
     )
   endforeach()
 
-  if (INTEGRATION_TESTING)
+  if (NAV2_INTEGRATION_TESTING)
     set(_pytest_tests
-      tests/integration/test_nav1_tf_handler.py
       tests/integration/test_nav2_tf_handler.py
       tests/integration/test_nav2_robot_adapter.py
     )
@@ -48,6 +47,18 @@ if(BUILD_TESTING)
         WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
       )
     endforeach()
+  elseif (NAV1_INTEGRATION_TESTING)
+    set(_pytest_tests
+      tests/integration/test_nav1_tf_handler.py
+    )
+    foreach(_test_path ${_pytest_tests})
+      get_filename_component(_test_name ${_test_path} NAME_WE)
+      ament_add_pytest_test(${_test_name} ${_test_path}
+        APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
+        TIMEOUT 60
+        WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+      )
+    endforeach()
   endif()
 endif()
 

diff --git a/free_fleet_adapter/free_fleet_adapter/nav1_robot_adapter.py b/free_fleet_adapter/free_fleet_adapter/nav1_robot_adapter.py
@@ -33,15 +33,15 @@
 #     TFMessage,
 #     Time,
 # )
+from free_fleet.ros1_types import (
+    ROS1_STORE,
+    TFMessage
+)
 from free_fleet.utils import (
     get_zenoh_name_of_ros1_topic,
     # make_cancel_all_goals_request,
     namespacify,
 )
-from free_fleet_ros1_types import (
-    ROS1_STORE,
-    TFMessage
-)
 
 from geometry_msgs.msg import TransformStamped
 # import numpy as np