[WIP] Testing of migration to ROS2 Humble #737
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[558] FAILED on noeticdocker build failed |
| template <typename T> | ||
| void declare_dynamic_parameter(const std::string& name, T* const param, const T& default_value) |
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declare_dynamic_parameter() function is added to replace dynamic_reconfigure.
| // This function is copied from the "jazzy" branch of rclcpp/src/rclcpp/node_interfaces/node_logging.cpp | ||
| void NeonavigationNode::create_logger_services() |
| class TestTerminatingProcessStops(unittest.TestCase): | ||
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| def test_proc_terminates(self, proc_info: ActiveProcInfoHandler, test_cmd: Node) -> None: | ||
| proc_info.assertWaitForShutdown( # type: ignore[no-untyped-call] | ||
| process=test_cmd, timeout=120.0 | ||
| ) | ||
| self.assertEqual(proc_info[test_cmd].returncode, 0) |
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This replaces the rostest. When test_safety_limiter fails, it returns a value other than 0. This function waits for the test_safety_limiter to finish and then checks the value returned.
| set(ament_cmake_uncrustify_FOUND TRUE) | ||
| set(ament_cmake_cpplint_FOUND TRUE) |
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Currently, we are using clang-format, so these checks are disabled.
[559] FAILED on noeticdocker build failed |
| , tfl_(tfbuf_) | ||
| , last_cloud_stamp_(0, 0, get_clock()->get_clock_type()) |
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We need to use rclcpp::Time carefully. It has a member variable named clock_type, and comparing instances with different clock_types throws an exception.
When an instance of the rclcpp::Time class is contracted using the default constructor, clock_type is RCL_SYSTEM_TIME. On the other hand, the clock_type of instances created by rclcpp::Node::now() or by converting built_in_interfaces::msg::Time is RCL_ROS_TIME.
Therefore, the following code throws an exception.
if (this->now() > rclcpp::Time())
To prevent this, it is necessary to explicitly set clock_type in the constructor.
if (this->now() > rclcpp::Time(0, 0, get_clock()->get_clock_type()))
| transform *= odom_to_path; | ||
| transform_delay = (ros::Time::now() - transform.stamp_).toSec(); | ||
| transform_delay = tf2::durationToSec(tf2_ros::fromRclcpp(now()) - transform.stamp_); |
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In ROS2, the type of stamp_ of tf2::Stamped is changed to tf2::TimePoint. The conversion from tf2::TimePoint to rclcpp::Time should also be carefully performed.
The clock_type of the instance of rclcpp::Time class created by tf2_ros::toRclcpp() is RCL_SYSTEM_TIME, and an exception is thrown when compared to the instance created by rclcpp::Node::now() .
Here, this problem is avoided by converting the return value of rclcpp::Node::now() to tf2::TimePoint.
| const rclcpp::Time pcl_stamp = pcl_conversions::fromPCL(cloud_accum_->header.stamp); | ||
| const bool can_transform = tfbuf_.canTransform(base_frame_id_, cloud_accum_->header.frame_id, pcl_stamp); | ||
| const rclcpp::Time stamp = can_transform ? pcl_stamp : rclcpp::Time(0); |
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Note that the clock_type of the instance created by pcl_conversions::fromPCL() is also RCL_SYSTEM_TIME. Here, the problem does not occur because pcl_stamp is only used as arguments for tf2 methods in which clock_type is ignored.
[560] FAILED on noeticdocker build failed |
| using std::chrono::duration_cast; | ||
| using std::chrono::nanoseconds; | ||
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| class RosRate : public rclcpp::RateBase |
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rclcpp::Rate ignores use_sim_time option, so I added a new rate class to use the ROS-time clock.
Only trajectory_tracker and safety_limiter is updated.