The intention of the localization test is to ensure robot’s pose and transforms are available.

Currently, only a simple test that checks the initialpose has been implemented. The test_localization module publishes an initial pose on initialpose topic and then it listens to amcl_pose topic. If the amcl_pose is similar to initial pose within a predefined tolerance the test passes.

To run the test

First, build the package

colcon build --symlink-install

After building, from /build/nav2_system_tests directory run:

ctest -V -R test_localization

Alternately you can run all the tests in the package using colcon:

colcon test --packages-select nav2_system_tests

Future Plan

Once rosbag functionality becomes available, this test can be extended to utilize a recorded trajectory with map and scan data to monitor the amcl_pose and transforms without a need to run Gazebo and map_server.