end2end test can now wait for headless sim to be ready before running…

… tests

ros_ws/src/end2end_tests/launch/isaac_test_env_bringup.xml

@@ -0,0 +1,22 @@
+<launch>
+  <!-- Test node  -->
+  <node name="end2end_test_node" pkg="end2end_tests" exec="end2end_tester_node.py" output="screen" />
+
+  <!-- Simulator -->
+  <set_env name="OMNI_KIT_ALLOW_ROOT" value="1" />
+  <node name="isaacsim" pkg="isaacsim" exec="run_isaacsim.py" output="screen">
+    <param name="install_path" value="/isaac-sim" />
+    <param name="env_path" value="/extras/spirit_uav_fire_academy.usd" />
+    <param name="play_sim_on_start" value="true" />
+    <!-- <param name="headless" value="" />   -->
+    <param name="headless" value="native" />  
+    <param name="isaac_args" value="--/app/scripting/ignoreWarningDialog=true" />
+  </node>
+
+  <!-- <group>
+    <set_env name="ROS_DOMAIN_ID" value="1" />
+    <push_ros_namespace namespace="robot1" />
+    <include file="$(find-pkg-share central)/launch/ascent_drone_headless.xml" />
+  </group> -->
+
+</launch>

ros_ws/src/end2end_tests/package.xml

@@ -1,15 +1,17 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>robot_system_tests</name>
+  <name>end2end_tests</name>
   <version>0.0.0</version>
-  <description>Tests for the full robot system</description>
+  <description>Tests in simulation for full systems</description>
   <maintainer email="[email protected]">uav</maintainer>
   <license>TODO: License declaration</license>
 
   <!-- <buildtool_depend>rclpy</buildtool_depend> -->
+  <buildtool_depend>ament_python</buildtool_depend>
+  <exec_depend>rclpy</exec_depend>
 
-
+  
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>

ros_ws/src/end2end_tests/setup.py

@@ -1,26 +1,28 @@
 from setuptools import setup, find_packages
 
-package_name = 'end2end_tests'
+package_name = "end2end_tests"
 
 setup(
- name=package_name,
- version='0.0.0',
- packages=find_packages(),
-data_files=[
-('share/' + package_name, ['package.xml']),
-('share/ament_index/resource_index/packages',
-        ['resource/' + package_name]),
-],
- install_requires=['setuptools', 'launch', 'launch_ros', 'launch_testing', 'launch_testing_ros', 'pytest'],
- zip_safe=True,
- maintainer='TODO',
- maintainer_email='TODO',
- description='TODO: Package description',
- license='TODO: License declaration',
- tests_require=['pytest'],
-#  entry_points={
-#      'console_scripts': [
-#              'my_node = my_py_pkg.my_node:main'
-#      ],
-#    },
-)
+    name=package_name,
+    version="0.0.0",
+    packages=find_packages(),
+    data_files=[
+        ("share/" + package_name, ["package.xml"]),
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        ("share/" + package_name + "/launch", ["launch/isaac_test_env_bringup.xml"]),
+    ],
+    install_requires=[
+        "setuptools",
+        "launch",
+        "launch_ros",
+        "launch_testing",
+        "launch_testing_ros",
+        "pytest",
+    ],
+    zip_safe=True,
+    maintainer="TODO",
+    maintainer_email="TODO",
+    description="Tests in simulation for full systems",
+    license="TODO: License declaration",
+    tests_require=["pytest"],
+)

ros_ws/src/end2end_tests/tests/test_end2end.py

@@ -0,0 +1,107 @@
+import os
+import sys
+import time
+import unittest
+import uuid
+
+import launch
+from launch.launch_service import LaunchService
+import launch_ros
+import launch_ros.actions
+import launch_testing.actions
+from launch_testing.io_handler import ActiveIoHandler
+import launch_testing_ros
+
+import pytest
+
+import rclpy
+from rclpy.node import Node
+
+from std_msgs.msg import String
+
+import time
+
+class End2EndTestNode(Node):
+    def __init__(self):
+        super().__init__('end2end_test_node')
+        self.subscription = self.create_subscription(String, '/sim_status', self.sim_status_callback, 10)
+        self.sim_status = None
+
+    def sim_status_callback(self, msg):
+        self.sim_status = msg.data
+        self.get_logger().info(f'variable is now: {self.sim_status}')
+
+@pytest.mark.rostest
+# this is the test descriptioon used to launch the full robot system with launch_robot_headless.yaml
+def generate_test_description():
+    robot_launch_path = '/root/AirStack/ros_ws/src/end2end_tests/launch/isaac_test_env_bringup.xml'
+
+    robot_launch = launch.actions.IncludeLaunchDescription( launch.launch_description_sources.AnyLaunchDescriptionSource(robot_launch_path))
+
+    return (
+        launch.LaunchDescription([
+            robot_launch,
+            launch_testing.actions.ReadyToTest(),
+        ]),
+        {}
+    )
+
+
+class TestEnd2End(unittest.TestCase):
+
+    @classmethod
+    def setUpClass(cls):
+        # Initialize the ROS context for the test node
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        # Shutdown the ROS context
+        rclpy.shutdown()
+
+    def setUp(self):
+        # Create a ROS node for tests
+        self.node = End2EndTestNode()
+
+    def tearDown(self):
+        self.node.destroy_node()
+
+    def test_wait_for_sim(self, timeout=30):
+        # Wait for the isaac sim to be available
+        start_time = time.time()
+        while time.time() - start_time < timeout:
+            rclpy.spin_once(self.node)
+            if self.node.sim_status == "ready":
+                self.assertTrue(True, "Simulation was initialized successfully")
+                return
+        self.assertTrue(False, "Timeout waiting for isaac sim to be ready")
+
+
+    # def test_arming(self):
+    #     # Create a service call to existing "mavros/cmd/arming" service
+    #     client = self.node.create_client(mavros_msgs.srv.CommandBool, '/mavros/cmd/arming')
+    #     client.wait_for_service()
+    #     request = mavros_msgs.srv.CommandBool.Request()
+    #     request.value = True
+    #     future = client.call_async(request)
+    #     rclpy.spin_until_future_complete(self.node, future)
+    #     response = future.result()
+    #     self.assertTrue(response.success)
+
+    # def test_disarming(self):
+    #     # Create a service call to existing "mavros/cmd/arming" service
+    #     client = self.node.create_client(mavros_msgs.srv.CommandBool, '/mavros/cmd/arming')
+    #     client.wait_for_service()
+    #     request = mavros_msgs.srv.CommandBool.Request()
+    #     request.value = False
+    #     future = client.call_async(request)
+    #     rclpy.spin_until_future_complete(self.node, future)
+    #     response = future.result()
+    #     self.assertTrue(response.success)
+
+
+
+
+
+
+

ros_ws/src/robot/autonomy/5_behavior_managers/central/launch/ascent_isaac_omni_drone.xml

@@ -4,7 +4,7 @@
   <set_env name="OMNI_KIT_ALLOW_ROOT" value="1" />
   <node name="isaacsim" pkg="isaacsim" exec="run_isaacsim.py" output="screen">
     <param name="install_path" value="/isaac-sim" />
-    <param name="gui" value="omniverse://128.237.74.43/Library/Assets/Ascent_Aerosystems/Spirit_UAV/two_ascent_fire_academy.usd" />
+    <param name="env_path" value="omniverse://128.237.74.43/Library/Assets/Ascent_Aerosystems/Spirit_UAV/two_ascent_fire_academy.usd" />
     <param name="play_sim_on_start" value="true" />
     <param name="isaac_args" value="--/app/scripting/ignoreWarningDialog=true" />
   </node>

ros_ws/src/robot/autonomy/5_behavior_managers/central/launch/ascent_isaac_one_drone.xml

@@ -4,7 +4,7 @@
   <set_env name="OMNI_KIT_ALLOW_ROOT" value="1" />
   <node name="isaacsim" pkg="isaacsim" exec="run_isaacsim.py" output="screen">
     <param name="install_path" value="/isaac-sim" />
-    <param name="gui" value="/extras/one_drone_world.usd" />
+    <param name="env_path" value="/extras/one_drone_world.usd" />
     <param name="play_sim_on_start" value="true" />
     <param name="isaac_args" value="--/app/scripting/ignoreWarningDialog=true" />
   </node>

ros_ws/src/robot/autonomy/5_behavior_managers/central/launch/ascent_isaac_two_drones.xml

@@ -4,7 +4,7 @@
   <set_env name="OMNI_KIT_ALLOW_ROOT" value="1" />
   <node name="isaacsim" pkg="isaacsim" exec="run_isaacsim.py" output="screen">
     <param name="install_path" value="/isaac-sim" />
-    <param name="gui" value="/extras/two_drone_world.usd" />
+    <param name="env_path" value="/extras/two_drone_world.usd" />
     <param name="play_sim_on_start" value="true" />
     <param name="isaac_args" value="--/app/scripting/ignoreWarningDialog=true" />
   </node>

ros_ws/src/robot/robot_systems_tests/package.xml

@@ -3,7 +3,7 @@
 <package format="3">
   <name>robot_system_tests</name>
   <version>0.0.0</version>
-  <description>Tests for the full robot system</description>
+  <description>Robot system tests for one singular robot</description>
   <maintainer email="[email protected]">uav</maintainer>
   <license>TODO: License declaration</license>
 

ros_ws/src/robot/robot_systems_tests/setup.py

@@ -1,26 +1,27 @@
 from setuptools import setup, find_packages
 
-package_name = 'robot_system_tests'
+package_name = "robot_system_tests"
 
 setup(
- name=package_name,
- version='0.0.0',
- packages=find_packages(),
-data_files=[
-('share/' + package_name, ['package.xml']),
-('share/ament_index/resource_index/packages',
-        ['resource/' + package_name]),
-],
- install_requires=['setuptools', 'launch', 'launch_ros', 'launch_testing', 'launch_testing_ros', 'pytest'],
- zip_safe=True,
- maintainer='TODO',
- maintainer_email='TODO',
- description='TODO: Package description',
- license='TODO: License declaration',
- tests_require=['pytest'],
-#  entry_points={
-#      'console_scripts': [
-#              'my_node = my_py_pkg.my_node:main'
-#      ],
-#    },
-)
+    name=package_name,
+    version="0.0.0",
+    packages=find_packages(),
+    data_files=[
+        ("share/" + package_name, ["package.xml"]),
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+    ],
+    install_requires=[
+        "setuptools",
+        "launch",
+        "launch_ros",
+        "launch_testing",
+        "launch_testing_ros",
+        "pytest",
+    ],
+    zip_safe=True,
+    maintainer="TODO",
+    maintainer_email="TODO",
+    description="Robot system tests for one singular robot",
+    license="TODO: License declaration",
+    tests_require=["pytest"],
+)

ros_ws/src/simulation/isaacsim/CMakeLists.txt

@@ -3,6 +3,8 @@ project(isaacsim)
 
 find_package(ament_cmake REQUIRED)
 find_package(rclpy REQUIRED)
+find_package(std_msgs REQUIRED)
+
 
 install(DIRECTORY
   scripts

ros_ws/src/simulation/isaacsim/package.xml

@@ -21,6 +21,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>std_msgs</depend>
+
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>