test max 3 robots + env(NS) + readme

husarion · Jan 11, 2024 · 2b00c9c · 2b00c9c
1 parent 47700e6
commit 2b00c9c
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Showing 8 changed files with 11 additions and 12 deletions.
diff --git a/README.md b/README.md
@@ -62,7 +62,7 @@ rm -r src/rosbot_gazebo
 sudo rosdep init
 rosdep update --rosdistro $ROS_DISTRO
 rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
-colcon build
+colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
 ```
 
 > **Prerequisites**
@@ -106,7 +106,7 @@ rm -rf src/gazebosim/gz_ros2_control/ign_ros2_control_demos src/gazebosim/gz_ros
 sudo rosdep init
 rosdep update --rosdistro $ROS_DISTRO
 rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
-colcon build
+colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
 ```
 
 Running:

diff --git a/rosbot_bringup/config/ekf.yaml b/rosbot_bringup/config/ekf.yaml
@@ -3,7 +3,7 @@
 ## ekf config file ###
 /**/ekf_filter_node:
     ros__parameters:
-        frequency: 25.0
+        frequency: 20.0
         sensor_timeout: 0.05
         two_d_mode: true
 

diff --git a/rosbot_bringup/launch/bringup.launch.py b/rosbot_bringup/launch/bringup.launch.py
@@ -17,14 +17,14 @@
 from ament_index_python.packages import get_package_share_directory
 from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch.substitutions import EnvironmentVariable, LaunchConfiguration, PathJoinSubstitution
 
 
 def generate_launch_description():
     namespace = LaunchConfiguration("namespace")
     declare_namespace_arg = DeclareLaunchArgument(
         "namespace",
-        default_value="",
+        default_value=EnvironmentVariable("ROBOT_NAMESPACE", default_value=""),
         description="Namespace for all topics and tfs",
     )
 

diff --git a/rosbot_bringup/test/test_multirobot_ekf.py b/rosbot_bringup/test/test_multirobot_ekf.py
@@ -25,7 +25,7 @@
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from test_utils import BringupTestNode
 
-robot_names = ["rosbot1", "rosbot2", "rosbot3", "rosbot4"]
+robot_names = ["robot1", "robot2", "robot3"]
 
 
 @launch_pytest.fixture

diff --git a/rosbot_controller/test/test_multirobot_controllers.py b/rosbot_controller/test/test_multirobot_controllers.py
@@ -25,7 +25,7 @@
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from test_utils import ControllersTestNode
 
-robot_names = ["rosbot1", "rosbot2", "rosbot3", "rosbot4"]
+robot_names = ["robot1", "robot2", "robot3"]
 
 
 @launch_pytest.fixture

diff --git a/rosbot_gazebo/launch/simulation.launch.py b/rosbot_gazebo/launch/simulation.launch.py
@@ -21,6 +21,7 @@
     OpaqueFunction,
 )
 from launch.substitutions import (
+    EnvironmentVariable,
     PathJoinSubstitution,
     LaunchConfiguration,
     TextSubstitution,
@@ -122,7 +123,7 @@ def launch_setup(context, *args, **kwargs):
 def generate_launch_description():
     declare_namespace_arg = DeclareLaunchArgument(
         "namespace",
-        default_value="",
+        default_value=EnvironmentVariable("ROBOT_NAMESPACE", default_value=""),
         description="Namespace for all topics and tfs",
     )
 

diff --git a/rosbot_gazebo/test/test_multirobot_diff_drive_simulation.py b/rosbot_gazebo/test/test_multirobot_diff_drive_simulation.py
@@ -66,7 +66,7 @@ def generate_test_description():
 
 @pytest.mark.launch(fixture=generate_test_description)
 def test_multirobot_simulation():
-    robot_names = ["robot1", "robot2", "robot3", "robot4"]
+    robot_names = ["robot1", "robot2", "robot3"]
     rclpy.init()
     try:
         nodes = []

diff --git a/rosbot_gazebo/test/test_multirobot_mecanum_simulation.py b/rosbot_gazebo/test/test_multirobot_mecanum_simulation.py
@@ -30,8 +30,6 @@
 from test_utils import SimulationTestNode
 from test_ign_kill_utils import kill_ign_linux_processes
 
-robot_names = ["robot1", "robot2", "robot3", "robot4"]
-
 
 @launch_pytest.fixture
 def generate_test_description():
@@ -69,7 +67,7 @@ def generate_test_description():
 
 @pytest.mark.launch(fixture=generate_test_description)
 def test_multirobot_mecanum_simulation():
-    robot_names = ["robot1", "robot2", "robot3", "robot4"]
+    robot_names = ["robot1", "robot2", "robot3"]
     rclpy.init()
     try:
         nodes = []