Fix Costmap Filters system tests (#3120)

* Fix Costmap Filters system tests * Update map_io.cpp Co-authored-by: Alexey Merzlyakov <[email protected]>
ros-navigation · Aug 18, 2022 · b58fbc6 · b58fbc6
1 parent b5d2440
commit b58fbc6
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Showing 6 changed files with 6 additions and 5 deletions.
diff --git a/nav2_map_server/src/map_io.cpp b/nav2_map_server/src/map_io.cpp
@@ -504,7 +504,7 @@ void tryWriteMapToFile(
     tf2::Matrix3x3 mat(tf2::Quaternion(orientation.x, orientation.y, orientation.z, orientation.w));
     double yaw, pitch, roll;
     mat.getEulerYPR(yaw, pitch, roll);
-    
+
     const int file_name_index = mapdatafile.find_last_of("/\\");
     std::string image_name = mapdatafile.substr(file_name_index + 1);
 

diff --git a/nav2_system_tests/src/costmap_filters/keepout_params.yaml b/nav2_system_tests/src/costmap_filters/keepout_params.yaml
@@ -124,6 +124,7 @@ controller_server:
     FollowPath:
       plugin: "dwb_core::DWBLocalPlanner"
       debug_trajectory_details: True
+      prune_distance: 1.0
       min_vel_x: 0.0
       min_vel_y: 0.0
       max_vel_x: 0.26

diff --git a/nav2_system_tests/src/costmap_filters/speed_global_params.yaml b/nav2_system_tests/src/costmap_filters/speed_global_params.yaml
@@ -248,7 +248,7 @@ map_server:
 map_saver:
   ros__parameters:
     use_sim_time: True
-    save_map_timeout: 5000
+    save_map_timeout: 5.0
     free_thresh_default: 0.25
     occupied_thresh_default: 0.65
     map_subscribe_transient_local: True

diff --git a/nav2_system_tests/src/costmap_filters/speed_local_params.yaml b/nav2_system_tests/src/costmap_filters/speed_local_params.yaml
@@ -248,7 +248,7 @@ map_server:
 map_saver:
   ros__parameters:
     use_sim_time: True
-    save_map_timeout: 5000
+    save_map_timeout: 5.0
     free_thresh_default: 0.25
     occupied_thresh_default: 0.65
     map_subscribe_transient_local: True

diff --git a/nav2_system_tests/src/costmap_filters/test_keepout_launch.py b/nav2_system_tests/src/costmap_filters/test_keepout_launch.py
@@ -89,7 +89,7 @@ def generate_launch_description():
             parameters=[{
                             'node_names':
                             [
-                                'filter_mask_server', 'costmap_filter_info_server', 'bt_navigator'
+                                'filter_mask_server', 'costmap_filter_info_server'
                             ]
                         },
                         {'autostart': True}]),

diff --git a/nav2_system_tests/src/costmap_filters/test_speed_launch.py b/nav2_system_tests/src/costmap_filters/test_speed_launch.py
@@ -87,7 +87,7 @@ def generate_launch_description():
             parameters=[{
                             'node_names':
                             [
-                                'filter_mask_server', 'costmap_filter_info_server', 'bt_navigator'
+                                'filter_mask_server', 'costmap_filter_info_server'
                             ]
                         },
                         {'autostart': True}]),