Basic testing on the level of nav1 robot adapter

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
open-rmf · Dec 30, 2024 · c4d3504 · c4d3504
1 parent 6ce12d5
commit c4d3504
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Showing 11 changed files with 898 additions and 55 deletions.
diff --git a/free_fleet/free_fleet/ros1_types.py b/free_fleet/free_fleet/ros1_types.py
@@ -92,3 +92,8 @@ class GoalStatus:
 class GoalStatusArray:
     type_name = 'actionlib_msgs/msg/GoalStatusArray'
     msg_type = ROS1_STORE.types[type_name]
+
+
+class BatteryState:
+    type_name = 'sensor_msgs/msg/BatteryState'
+    msg_type = ROS1_STORE.types[type_name]
diff --git a/free_fleet_adapter/CMakeLists.txt b/free_fleet_adapter/CMakeLists.txt
@@ -10,6 +10,7 @@ install(PROGRAMS
   ${PROJECT_NAME}/fleet_adapter.py
   ${PROJECT_NAME}/nav1_robot_adapter.py
   ${PROJECT_NAME}/nav2_robot_adapter.py
+  ${PROJECT_NAME}/robot_adapter.py
   DESTINATION lib/${PROJECT_NAME}
 )
 
@@ -48,9 +49,12 @@ if(BUILD_TESTING)
       )
     endforeach()
   elseif (NAV1_INTEGRATION_TESTING)
+    # test_nav1_move_base_handler and test_nav1_robot_adapter will affect one
+    # another, therefore only one can be run during integration testing
     set(_pytest_tests
-      tests/integration/test_nav1_move_base.py
+      # tests/integration/test_nav1_move_base_handler.py
       tests/integration/test_nav1_tf_handler.py
+      tests/integration/test_nav1_robot_adapter.py
     )
     foreach(_test_path ${_pytest_tests})
       get_filename_component(_test_name ${_test_path} NAME_WE)