Merge pull request #38 from naturerobots/fix/test_robustness

Fix/test robustness
naturerobots · Oct 16, 2024 · 4a8e343 · 4a8e343
2 parents 2226654 + 5f06f7b
commit 4a8e343
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Showing 2 changed files with 5 additions and 10 deletions.
diff --git a/mbf_abstract_nav/test/abstract_planner_execution.cpp b/mbf_abstract_nav/test/abstract_planner_execution.cpp
@@ -108,20 +108,15 @@ TEST_F(AbstractPlannerExecutionFixture, cancel)
 
   // the cancel case. we simulate that we cancel the execution
   // setup the expectation
-  std::condition_variable cv;
-  // makePlan may or may not be called
-  ON_CALL(*mock_planner_ptr_, makePlan(_, _, _, _, _, _)).WillByDefault(Wait(&cv));
+  ON_CALL(*mock_planner_ptr_, makePlan(_, _, _, _, _, _)).WillByDefault(Return(11));
   EXPECT_CALL(*mock_planner_ptr_, cancel()).Times(1).WillOnce(Return(true));
 
   // now call the method
   ASSERT_TRUE(planner_execution_ptr_->start(pose_, pose_, 0));
   ASSERT_TRUE(planner_execution_ptr_->cancel());
 
-  // wake up run-thread
-  cv.notify_all();
-
   // check result
-  planner_execution_ptr_->waitForStateUpdate(std::chrono::seconds(1));
+  ASSERT_EQ(planner_execution_ptr_->waitForStateUpdate(std::chrono::seconds(1)), std::cv_status::no_timeout);
   ASSERT_EQ(planner_execution_ptr_->getState(), AbstractPlannerExecution::CANCELED);
 }
 

diff --git a/mbf_simple_nav/test/simple_nav_integration_test.cpp b/mbf_simple_nav/test/simple_nav_integration_test.cpp
@@ -57,7 +57,7 @@ struct SimpleNavIntegrationTest : public Test
 
     exe_path_goal_.controller = "test_controller";
     exe_path_goal_.angle_tolerance = 0.1;
-    exe_path_goal_.dist_tolerance = 0.01;
+    exe_path_goal_.dist_tolerance = 0.05;
     exe_path_goal_.tolerance_from_action = true;
     exe_path_goal_.path.header.frame_id = "odom";
     exe_path_goal_.path.poses.push_back(get_path_goal_.start_pose);
@@ -275,6 +275,6 @@ TEST_F(SimpleNavIntegrationTest, moveBaseActionReachesTheGoal)
     tf2::TimePointZero);
   const auto & robot_position = trf_odom_baseLink.transform.translation;
   const auto & goal_position = move_base_goal.target_pose.pose.position;
-  EXPECT_NEAR(robot_position.x, goal_position.x, 0.03);
-  EXPECT_NEAR(robot_position.y, goal_position.y, 0.03);
+  EXPECT_NEAR(robot_position.x, goal_position.x, 0.05);
+  EXPECT_NEAR(robot_position.y, goal_position.y, 0.05);
 }