You signed in with another tab or window. Reload to refresh your session.You signed out in another tab or window. Reload to refresh your session.You switched accounts on another tab or window. Reload to refresh your session.Dismiss alert
Enable visualization for Waypoint Follower system test by following patch:
diff --git a/nav2_system_tests/src/waypoint_follower/test_case_py.launch b/nav2_system_tests/src/waypoint_follower/test_case_py.launch
index adeb839c..c7194fe9 100755
--- a/nav2_system_tests/src/waypoint_follower/test_case_py.launch
+++ b/nav2_system_tests/src/waypoint_follower/test_case_py.launch
@@ -40,6 +40,8 @@ def generate_launch_description():
bringup_dir = get_package_share_directory('nav2_bringup')
params_file = os.path.join(bringup_dir, 'params/nav2_params.yaml')
+ rviz_config_file = os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz')
+
# Replace the `use_astar` setting on the params file
configured_params = RewrittenYaml(
source_file=params_file,
@@ -59,6 +61,13 @@ def generate_launch_description():
'--minimal_comms', world],
output='screen'),
+ # Launch rviz
+ Node(
+ package='rviz2',
+ executable='rviz2',
+ arguments=['-d', rviz_config_file],
+ output='screen'),
+
# TODO(orduno) Launch the robot state publisher instead
# using a local copy of TB3 urdf file
Node(
Run test_waypoint_follower manually, or using the attached below stress-test script: run_stress.sh.txt
Expected behavior
Test passes 30 times in a row.
Actual behavior
The following problems were found during the test:
Problem1: No action
When the robot is moving near the obstacle, it could stuck. Sometimes, this causes recovery behaviors that being triggered.
If this recovery was triggered (moreover, it was detected that only "Received request to clear entirely the local_costmap" event is enough for that), and robot successfully reached its goal, but the NavigateToPoseNavigator action returns UNKNOWN status instead of SUCCEEDED, which causes main WaypointFollower cycle to hang:
Sometimes, when running set waypoint outside of map test scenario, missed_waypoint contains INVALID_PATH=103 status instead of expected ComputePathToPose.Goal().GOAL_OUTSIDE_MAP=204 which gives the following error messages:
[bt_navigator-12] [INFO] [1692161747.546793612] [bt_navigator]: Begin navigating from current location to (100.00, 100.00)
[planner_server-10] [WARN] [1692161747.548072894] [planner_server]: GridBased plugin failed to plan from (0.70, 0.19) to (100.00, 100.00): "Goal Coordinates of(100.000000, 100.000000) was outside bounds"
[planner_server-10] [WARN] [1692161747.548158462] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle.
[bt_navigator-12] [ERROR] [1692161747.577081372] [bt_navigator]: Goal failed
[bt_navigator-12] [WARN] [1692161747.577271398] [bt_navigator]: [navigate_to_pose] [ActionServer] Aborting handle.
[tester_node-16] [INFO] [1692161747.949221718] [nav2_waypoint_tester]: Goal failed to process all waypoints, missed 1 wps.
[tester_node-16] Traceback (most recent call last):
[tester_node-16] File "/home/amerzlyakov/nav2_ws/src/navigation2/nav2_system_tests/src/waypoint_follower/tester.py", line 271, in <module>
[tester_node-16] main()
[tester_node-16] File "/home/amerzlyakov/nav2_ws/src/navigation2/nav2_system_tests/src/waypoint_follower/tester.py", line 233, in main
[tester_node-16] assert test.action_result.missed_waypoints[0].error_code == \
[tester_node-16] AssertionError
Problem3: Robot is getting lost after setting initial pose second time
In the stop on failure test with bogous waypoint test scenario there is test.setInitialPose(starting_pose) called second time while robot is not placed on its initial pose. This causes robot to lose its position. In most cases, robot still operating and reaching its goal; but sometimes since its position is getting lost, robot continues its uncontrolled movement between pillars causing testcase to fail by timeout:
This issue describes the flaky issues appeared with
test_waypoint_followersystem testBug report
Required Info:
Steps to reproduce issue
test_waypoint_followermanually, or using the attached below stress-test script:run_stress.sh.txt
Expected behavior
Test passes 30 times in a row.
Actual behavior
The following problems were found during the test:
Problem1: No action
When the robot is moving near the obstacle, it could stuck. Sometimes, this causes recovery behaviors that being triggered.
If this recovery was triggered (moreover, it was detected that only "Received request to clear entirely the local_costmap" event is enough for that), and robot successfully reached its goal, but the
NavigateToPoseNavigatoraction returnsUNKNOWNstatus instead ofSUCCEEDED, which causes mainWaypointFollowercycle to hang:2023-08-15.15-33-02.no_action_failure_case_only.mp4
Problem2: Incorrect out-of-map status
Sometimes, when running
set waypoint outside of maptest scenario,missed_waypointcontainsINVALID_PATH=103status instead of expectedComputePathToPose.Goal().GOAL_OUTSIDE_MAP=204which gives the following error messages:Problem3: Robot is getting lost after setting initial pose second time
In the
stop on failure test with bogous waypointtest scenario there istest.setInitialPose(starting_pose)called second time while robot is not placed on its initial pose. This causes robot to lose its position. In most cases, robot still operating and reaching its goal; but sometimes since its position is getting lost, robot continues its uncontrolled movement between pillars causing testcase to fail by timeout: