addressed wolfgang's requests

.github/workflows/systemtests_sim.yml

@@ -56,6 +56,7 @@ jobs:
           . install/local_setup.bash
           export PYTHONPATH="${PYTHONPATH}:/home/github/actions-runner/_work/crazyswarm2/crazyswarm2/crazyflie-firmware/build/"
           export ROS_LOCALHOST_ONLY=1
+          export ROS_DOMAIN_ID=99
           python3 src/crazyswarm2/systemtests/test_flights.py --sim
 
       - name: Upload files

crazyflie_sim/crazyflie_sim/visualization/rviz.py

@@ -29,7 +29,7 @@ def step(self, t, states: list[State], states_desired: list[State], actions: lis
             msg.transform.translation.x = state.pos[0]
             msg.transform.translation.y = state.pos[1]
             msg.transform.translation.z = state.pos[2]
-            msg.transform.rotation.x = state.quat[1]    
+            msg.transform.rotation.x = state.quat[1]
             msg.transform.rotation.y = state.quat[2]
             msg.transform.rotation.z = state.quat[3]
             msg.transform.rotation.w = state.quat[0]

systemtests/test_flights.py

@@ -109,7 +109,7 @@ def record_start_and_clean(self, testname:str, max_wait:int):
 
         src = f"source {str(self.ros2_ws)}/install/setup.bash"
         try:
-            command = f"{src} && ros2 bag record -s mcap -o test_{testname} /tf /clock"    #############################change later ?????                                                #if using sim backend, we also need to record simulation time in /clock topic
+            command = f"{src} && ros2 bag record -s mcap -o test_{testname} /tf"   
             record_bag =  Popen(command, shell=True, stderr=PIPE, stdout=True, text=True,
                                 cwd= self.ros2_ws / "results/", start_new_session=True, executable="/bin/bash") 
             atexit.register(clean_process, record_bag)
@@ -190,5 +190,3 @@ def test_multi_trajectory(self):
 
     unittest.main(argv=[sys.argv[0]] + other_args)
 
-    # TestFlights.SIM = True
-    # unittest.main()