This is a 'top level' system test which will use Gazebo to simulate a Robot moving from an known initial starting position to a goal pose.
To run the test
First, you must build Nav2 including this package:
colcon build --symlink-install
Then you can run all the system tests:
colcon test --packages-select nav2_system_tests
Output results will go to the screen, and will be logged to the "log/latest_test/nav2_system_tests/" path relative to where colcon test was run.
To run just the bt_navigator test:
cd build/nav2_system_tests
ctest -V bt_navigator$
To loop over the bt_navigator test, a script has been provided:
nav2_system_tests/scripts/ctest_loop.bash -c <# loops> -o <path/to/summary/filename.txt> -l <path/to/store/failing/logfiles.log> -d <dds to use>
Example (loop 100 times using fastrtps):
nav2_system_tests/scripts/getopt_ctest_loop.bash -c 100 -o /home/robot/data/results.txt -l /home/robot/data/results.log -d rmw_fastrtps_cpp
Notes: (updated Aug 2019)
- This currently uses a turtlebot3 robot model, world and map.
- The test normally takes 1-2 minutes to run, with a timeout of 2 minutes
Future Work
- Add additional goal poses if the first one successfully passes
- Remove the dependency on the turtlebot3 model and map by adding a simple / dummy robot and creating a world and map
