cd ~/ws/ws_navigation2/src
git clone https://github.com/ros-navigation/navigation2.git -b humble --recursive
cd ../
colcon build
colcon test

3:cpplint
5:uncrustify
24:test_single_trigger_node
49:test_action_navigate_through_poses_action

24/58 Testing: test_single_trigger_node
24/58 Test: test_single_trigger_node
Command: "/usr/bin/python3" "-u" "/home/qiguanxiao/ros2_humble/install/ament_cmake_test/share/ament_cmake_test/cmake/run_test.py" "/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test_results/nav2_behavior_tree/test_single_trigger_node.gtest.xml" "--package-name" "nav2_behavior_tree" "--output-file" "/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/ament_cmake_gtest/test_single_trigger_node.txt" "--command" "/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test/plugins/decorator/test_single_trigger_node" "--gtest_output=xml:/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test_results/nav2_behavior_tree/test_single_trigger_node.gtest.xml"
Directory: /home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test/plugins/decorator
"test_single_trigger_node" start time: Jun 04 09:55 CST
Output:
----------------------------------------------------------
-- run_test.py: invoking following command in '/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test/plugins/decorator':
 - /home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test/plugins/decorator/test_single_trigger_node --gtest_output=xml:/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test_results/nav2_behavior_tree/test_single_trigger_node.gtest.xml
[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from SingleTriggerTestFixture
[INFO] [1749002102.248917284] [test_behavior_tree_fixture]: Transforms are available now!
[ RUN      ] SingleTriggerTestFixture.test_behavior
/home/qiguanxiao/ws/ws_navigation2/src/navigation2/nav2_behavior_tree/test/plugins/decorator/test_single_trigger_node.cpp:75: Failure
Expected equality of these values:
  bt_node_->executeTick()
    Which is: FAILURE
  BT::NodeStatus::RUNNING
    Which is: RUNNING
/home/qiguanxiao/ws/ws_navigation2/src/navigation2/nav2_behavior_tree/test/plugins/decorator/test_single_trigger_node.cpp:77: Failure
Expected equality of these values:
  bt_node_->executeTick()
    Which is: FAILURE
  BT::NodeStatus::SUCCESS
    Which is: SUCCESS
[  FAILED  ] SingleTriggerTestFixture.test_behavior (0 ms)
[----------] 1 test from SingleTriggerTestFixture (1 ms total)

[----------] Global test environment tear-down
[==========] 1 test from 1 test suite ran. (21 ms total)
[  PASSED  ] 0 tests.
[  FAILED  ] 1 test, listed below:
[  FAILED  ] SingleTriggerTestFixture.test_behavior

 1 FAILED TEST
-- run_test.py: return code 1
-- run_test.py: inject classname prefix into gtest result file '/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test_results/nav2_behavior_tree/test_single_trigger_node.gtest.xml'
-- run_test.py: verify result file '/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test_results/nav2_behavior_tree/test_single_trigger_node.gtest.xml'
<end of output>
Test time =   0.22 sec
----------------------------------------------------------
Test Failed.
"test_single_trigger_node" end time: Jun 04 09:55 CST
"test_single_trigger_node" time elapsed: 00:00:00
----------------------------------------------------------

49/58 Testing: test_action_navigate_through_poses_action
49/58 Test: test_action_navigate_through_poses_action
Command: "/usr/bin/python3" "-u" "/home/qiguanxiao/ros2_humble/install/ament_cmake_test/share/ament_cmake_test/cmake/run_test.py" "/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test_results/nav2_behavior_tree/test_action_navigate_through_poses_action.gtest.xml" "--package-name" "nav2_behavior_tree" "--output-file" "/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/ament_cmake_gtest/test_action_navigate_through_poses_action.txt" "--command" "/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test/plugins/action/test_action_navigate_through_poses_action" "--gtest_output=xml:/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test_results/nav2_behavior_tree/test_action_navigate_through_poses_action.gtest.xml"
Directory: /home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test/plugins/action
"test_action_navigate_through_poses_action" start time: Jun 04 09:55 CST
Output:
----------------------------------------------------------
-- run_test.py: invoking following command in '/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test/plugins/action':
 - /home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test/plugins/action/test_action_navigate_through_poses_action --gtest_output=xml:/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test_results/nav2_behavior_tree/test_action_navigate_through_poses_action.gtest.xml
[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from NavigateThroughPosesActionTestFixture
[ RUN      ] NavigateThroughPosesActionTestFixture.test_tick
goals (std::vector<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >) -> full
initial_pose_received (bool) -> full
wait_for_service_timeout (std::chrono::duration<long, std::ratio<1l, 1000l> >) -> full
bt_loop_duration (std::chrono::duration<long, std::ratio<1l, 1000l> >) -> full
server_timeout (std::chrono::duration<long, std::ratio<1l, 1000l> >) -> full
node (std::shared_ptr<rclcpp::Node>) -> full
unknown file: Failure
C++ exception with description "The creation of the tree failed because the port [goals] was initially created with type [std::vector<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >] and, later type [geometry_msgs::msg::PoseStamped_<std::allocator<void> >] was used somewhere else." thrown in the test body.
[  FAILED  ] NavigateThroughPosesActionTestFixture.test_tick (0 ms)
[----------] 1 test from NavigateThroughPosesActionTestFixture (0 ms total)

[----------] Global test environment tear-down
[==========] 1 test from 1 test suite ran. (3 ms total)
[  PASSED  ] 0 tests.
[  FAILED  ] 1 test, listed below:
[  FAILED  ] NavigateThroughPosesActionTestFixture.test_tick

 1 FAILED TEST
-- run_test.py: return code 1
-- run_test.py: inject classname prefix into gtest result file '/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test_results/nav2_behavior_tree/test_action_navigate_through_poses_action.gtest.xml'
-- run_test.py: verify result file '/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test_results/nav2_behavior_tree/test_action_navigate_through_poses_action.gtest.xml'
<end of output>
Test time =   0.22 sec
----------------------------------------------------------
Test Failed.
"test_action_navigate_through_poses_action" end time: Jun 04 09:55 CST
"test_action_navigate_through_poses_action" time elapsed: 00:00:00
----------------------------------------------------------