ci: add node test for eskf

Author: Andeshog

.github/workflows/ros-node-tests.yml

@@ -14,6 +14,7 @@ jobs:
       matrix:
         test_script:
           - "tests/ros_node_tests/dp_node_test.sh"
+          - "tests/ros_node_tests/eskf_node_test.sh"
     uses: vortexntnu/vortex-ci/.github/workflows/reusable-ros2-simulator-test.yml@main
     with:
       vcs_repos_file: "tests/dependencies.repos"

navigation/eskf/CMakeLists.txt

@@ -18,7 +18,6 @@ find_package(tf2 REQUIRED)
 find_package(vortex_msgs REQUIRED)
 find_package(spdlog REQUIRED)
 find_package(fmt REQUIRED)
-find_package(stonefish_ros2 REQUIRED)
 
 if(NOT DEFINED EIGEN3_INCLUDE_DIR)
   set(EIGEN3_INCLUDE_DIR ${EIGEN3_INCLUDE_DIRS})
@@ -43,7 +42,6 @@ ament_target_dependencies(eskf_node
   vortex_msgs
   spdlog
   fmt
-  stonefish_ros2
 )
 
 target_link_libraries(eskf_node

navigation/eskf/include/eskf/eskf_ros.hpp

@@ -11,7 +11,6 @@
 #include <std_msgs/msg/float64.hpp>
 #include <std_msgs/msg/float64_multi_array.hpp>
 #include <std_msgs/msg/string.hpp>
-#include <stonefish_ros2/msg/dvl.hpp>
 #include "eskf/eskf.hpp"
 #include "eskf/typedefs.hpp"
 #include "spdlog/spdlog.h"

navigation/eskf/launch/eskf.launch.py

@@ -14,6 +14,7 @@ def generate_launch_description():
         package="eskf",
         executable="eskf_node",
         name="eskf_node",
+        namespace="orca",
         parameters=[
             eskf_params,
         ],

tests/ros_node_tests/eskf_node_test.sh

@@ -0,0 +1,39 @@
+#!/bin/bash
+set -e
+set -o pipefail
+
+echo "Testing that the ESKF node is able to start up and publish odom"
+
+# Load ROS 2 environment
+echo "Setting up ROS 2 environment..."
+. /opt/ros/humble/setup.sh
+. "${WORKSPACE:-$HOME/ros2_ws}/install/setup.bash"
+
+# Function to terminate processes safely on error
+cleanup() {
+    echo "Error detected. Cleaning up..."
+    kill -TERM -"$ESKF_PID" || true
+    exit 1
+}
+trap cleanup ERR
+
+# Launch eskf node
+setsid ros2 launch eskf eskf.launch.py &
+ESKF_PID=$!
+echo "Launched eskf with PID: $ESKF_PID"
+
+# Check for ROS errors before continuing
+if journalctl -u ros2 | grep -i "error"; then
+    echo "Error detected in ROS logs. Exiting..."
+    exit 1
+fi
+
+# Check if eskf correctly publishes odom
+echo "Waiting for odom data..."
+timeout 10s ros2 topic echo /orca/odom --once
+echo "Got odom data"
+
+# Terminate processes
+kill -TERM -"$ESKF_PID"
+
+echo "Test completed successfully."