Merge pull request #36 from Juancams/jazzy-devel

Jazzy changes for second edition of the book

Author: fmrico

.github/workflows/jazzy-devel.yaml

@@ -0,0 +1,38 @@
+name: jazzy-devel
+
+on:
+  pull_request:
+    branches:
+      - jazzy-devel
+  push:
+    branches:
+      - jazzy-devel
+
+
+jobs:
+  build-and-test:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-24.04]
+      fail-fast: false
+    steps:
+      - name: Install popf deps
+        run: sudo apt-get install libfl-dev
+      - uses: actions/checkout@v2
+      - name: Setup ROS 2
+        uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: jazzy
+      - name: build and test
+        uses: ros-tooling/[email protected]
+        with:
+          package-name: br2_basics br2_bt_bumpgo br2_bt_patrolling br2_fsm_bumpgo_cpp br2_fsm_bumpgo_py br2_navigation br2_tf2_detector br2_tiago br2_tracking br2_tracking_msgs br2_vff_avoidance
+          target-ros2-distro: jazzy
+          vcs-repo-file-url: ${GITHUB_WORKSPACE}/third_parties.repos
+          colcon-defaults: |
+            {
+              "test": {
+                "parallel-workers" : 1
+              }
+            }

br2_bt_patrolling/src/br2_bt_patrolling/GetWaypoint.cpp

@@ -42,23 +42,23 @@ GetWaypoint::GetWaypoint(
   wp.pose.orientation.w = 1.0;
 
   // recharge wp
-  wp.pose.position.x = 3.67;
-  wp.pose.position.y = -0.24;
+  wp.pose.position.x = -1.0;
+  wp.pose.position.y = 4.14;
   recharge_point_ = wp;
 
   // wp1
-  wp.pose.position.x = 1.07;
-  wp.pose.position.y = -12.38;
+  wp.pose.position.x = 6.7;
+  wp.pose.position.y = -2.54;
   waypoints_.push_back(wp);
 
   // wp2
-  wp.pose.position.x = -5.32;
-  wp.pose.position.y = -8.85;
+  wp.pose.position.x = 0.45;
+  wp.pose.position.y = -3.9;
   waypoints_.push_back(wp);
 
   // wp3
-  wp.pose.position.x = -0.56;
-  wp.pose.position.y = 0.24;
+  wp.pose.position.x = -6.01;
+  wp.pose.position.y = -0.3;
   waypoints_.push_back(wp);
 }
 

br2_bt_patrolling/tests/bt_action_test.cpp

@@ -305,8 +305,8 @@ TEST(bt_action, get_waypoint_btn)
     auto point = blackboard->get<geometry_msgs::msg::PoseStamped>("waypoint");
 
     ASSERT_EQ(counter, 1);
-    ASSERT_NEAR(point.pose.position.x, 3.67, 0.0000001);
-    ASSERT_NEAR(point.pose.position.y, -0.24, 0.0000001);
+    ASSERT_NEAR(point.pose.position.x, -1.0, 0.0000001);
+    ASSERT_NEAR(point.pose.position.y, 4.14, 0.0000001);
   }
 
   {
@@ -354,22 +354,22 @@ TEST(bt_action, get_waypoint_btn)
 
     const auto & waypoints = StoreWP::waypoints_;
     ASSERT_EQ(waypoints.size(), 7);
-    ASSERT_NEAR(waypoints[0].pose.position.x, 1.07, 0.0000001);
-    ASSERT_NEAR(waypoints[0].pose.position.y, -12.38, 0.0000001);
-    ASSERT_NEAR(waypoints[1].pose.position.x, -5.32, 0.0000001);
-    ASSERT_NEAR(waypoints[1].pose.position.y, -8.85, 0.0000001);
-    ASSERT_NEAR(waypoints[2].pose.position.x, -0.56, 0.0000001);
-    ASSERT_NEAR(waypoints[2].pose.position.y, 0.24, 0.0000001);
-
-    ASSERT_NEAR(waypoints[3].pose.position.x, 3.67, 0.0000001);
-    ASSERT_NEAR(waypoints[3].pose.position.y, -0.24, 0.0000001);
-
-    ASSERT_NEAR(waypoints[4].pose.position.x, 1.07, 0.0000001);
-    ASSERT_NEAR(waypoints[4].pose.position.y, -12.38, 0.0000001);
-    ASSERT_NEAR(waypoints[5].pose.position.x, -5.32, 0.0000001);
-    ASSERT_NEAR(waypoints[5].pose.position.y, -8.85, 0.0000001);
-    ASSERT_NEAR(waypoints[6].pose.position.x, -0.56, 0.0000001);
-    ASSERT_NEAR(waypoints[6].pose.position.y, 0.24, 0.0000001);
+    ASSERT_NEAR(waypoints[0].pose.position.x, 6.7, 0.0000001);
+    ASSERT_NEAR(waypoints[0].pose.position.y, -2.54, 0.0000001);
+    ASSERT_NEAR(waypoints[1].pose.position.x, 0.45, 0.0000001);
+    ASSERT_NEAR(waypoints[1].pose.position.y, -3.9, 0.0000001);
+    ASSERT_NEAR(waypoints[2].pose.position.x, -6.01, 0.0000001);
+    ASSERT_NEAR(waypoints[2].pose.position.y, -0.3, 0.0000001);
+
+    ASSERT_NEAR(waypoints[3].pose.position.x, -1.0, 0.0000001);
+    ASSERT_NEAR(waypoints[3].pose.position.y, 4.14, 0.0000001);
+
+    ASSERT_NEAR(waypoints[4].pose.position.x, 6.7, 0.0000001);
+    ASSERT_NEAR(waypoints[4].pose.position.y, -2.54, 0.0000001);
+    ASSERT_NEAR(waypoints[5].pose.position.x, 0.45, 0.0000001);
+    ASSERT_NEAR(waypoints[5].pose.position.y, -3.9, 0.0000001);
+    ASSERT_NEAR(waypoints[6].pose.position.x, -6.01, 0.0000001);
+    ASSERT_NEAR(waypoints[6].pose.position.y, -0.3, 0.0000001);
   }
 }