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Enable reloading BT xml file with same name (backport #4209)#4407

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SteveMacenski merged 1 commit intoros-navigation:ironfrom
christophfroehlich:reload_bt_iron
Jun 11, 2024
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Enable reloading BT xml file with same name (backport #4209)#4407
SteveMacenski merged 1 commit intoros-navigation:ironfrom
christophfroehlich:reload_bt_iron

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@christophfroehlich christophfroehlich commented Jun 8, 2024

Manual backport of #4209 (comment)

@huemerj @christophfroehlich
Enable reloading BT xml file with same name (ros-navigation#4209)
1bb0d01 
* Let BtActionServer overwrite xml

Co-authored-by: Johannes Huemer <johannes.huemer@ait.ac.at>
Signed-off-by: Johannes Huemer <johannes.huemer@ait.ac.at>
Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at>

* Make a ROS parameter for it

Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at>

* Rename flag to always reload BT xml file

Signed-off-by: Johannes Huemer <johannes.huemer@ait.ac.at>

---------

Signed-off-by: Johannes Huemer <johannes.huemer@ait.ac.at>
Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at>
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mergify bot commented Jun 8, 2024

@christophfroehlich, all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @iron, but it must be in main
to have these changes reflected into new distributions.

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christophfroehlich commented Jun 8, 2024

I see the same test results on iron as well as on this branch -> I think they are not related.

$ colcon test-result
build/nav2_behavior_tree/Testing/20240608-1928/Test.xml: 60 tests, 0 errors, 2 failures, 0 skipped
build/nav2_behavior_tree/test_results/nav2_behavior_tree/cppcheck.xunit.xml: 173 tests, 0 errors, 2 failures, 0 skipped
build/nav2_behavior_tree/test_results/nav2_behavior_tree/test_single_trigger_node.gtest.xml: 1 test, 0 errors, 1 failure, 0 skipped

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SteveMacenski commented Jun 10, 2024

build/nav2_behavior_tree/Testing/20240608-1928/Test.xml: 60 tests, 0 errors, 2 failures, 0 skipped

What are the failures? That's relevant to check.

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christophfroehlich commented Jun 11, 2024 

$ colcon test-result --verbose
build/nav2_behavior_tree/Testing/20240611-0614/Test.xml: 61 tests, 0 errors, 2 failures, 0 skipped
- cppcheck
  <<< failure message
    -- run_test.py: invoking following command in '/workspaces/ros2_iron_ws/src/navigation2/nav2_behavior_tree':
     - /opt/ros/iron/bin/ament_cppcheck --xunit-file /workspaces/ros2_iron_ws/build/nav2_behavior_tree/test_results/nav2_behavior_tree/cppcheck.xunit.xml --include_dirs /workspaces/ros2_iron_ws/src/navigation2/nav2_behavior_tree/include
    [plugins/condition/is_stuck_condition.cpp:107]: (error: derefInvalidIterator) Dereference of an invalid iterator: odom_history_.end()
    [plugins/condition/is_stuck_condition.cpp:111]: (error: derefInvalidIterator) Dereference of an invalid iterator: odom_history_.end()
    2 errors
    -- run_test.py: return code 1
    -- run_test.py: verify result file '/workspaces/ros2_iron_ws/build/nav2_behavior_tree/test_results/nav2_behavior_tree/cppcheck.xunit.xml'
  >>>
- test_single_trigger_node
  <<< failure message
    -- run_test.py: invoking following command in '/workspaces/ros2_iron_ws/build/nav2_behavior_tree/test/plugins/decorator':
     - /workspaces/ros2_iron_ws/build/nav2_behavior_tree/test/plugins/decorator/test_single_trigger_node --gtest_output=xml:/workspaces/ros2_iron_ws/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
    Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
             at line 93 in ./src/buffer_core.cpp
    [INFO] [1718086553.963673758] [test_behavior_tree_fixture]: Transforms are available now!
    [ RUN      ] SingleTriggerTestFixture.test_behavior
    /workspaces/ros2_iron_ws/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
    /workspaces/ros2_iron_ws/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 (0 ms total)
    
    [----------] Global test environment tear-down
    [==========] 1 test from 1 test suite ran. (114 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 '/workspaces/ros2_iron_ws/build/nav2_behavior_tree/test_results/nav2_behavior_tree/test_single_trigger_node.gtest.xml'
    -- run_test.py: verify result file '/workspaces/ros2_iron_ws/build/nav2_behavior_tree/test_results/nav2_behavior_tree/test_single_trigger_node.gtest.xml'
  >>>
build/nav2_behavior_tree/test_results/nav2_behavior_tree/cppcheck.xunit.xml: 176 tests, 0 errors, 2 failures, 0 skipped
- nav2_behavior_tree.cppcheck error: derefInvalidIterator (plugins/condition/is_stuck_condition.cpp:107)
  <<< failure message
    Dereference of an invalid iterator: odom_history_.end()
  >>>
- nav2_behavior_tree.cppcheck error: derefInvalidIterator (plugins/condition/is_stuck_condition.cpp:111)
  <<< failure message
    Dereference of an invalid iterator: odom_history_.end()
  >>>
build/nav2_behavior_tree/test_results/nav2_behavior_tree/test_single_trigger_node.gtest.xml: 1 test, 0 errors, 1 failure, 0 skipped
- nav2_behavior_tree.SingleTriggerTestFixture test_behavior
  <<< failure message
    /workspaces/ros2_iron_ws/src/navigation2/nav2_behavior_tree/test/plugins/decorator/test_single_trigger_node.cpp:75
    Expected equality of these values:
      bt_node_->executeTick()
        Which is: FAILURE
      BT::NodeStatus::RUNNING
        Which is: RUNNING
    /workspaces/ros2_iron_ws/src/navigation2/nav2_behavior_tree/test/plugins/decorator/test_single_trigger_node.cpp:77
    Expected equality of these values:
      bt_node_->executeTick()
        Which is: FAILURE
      BT::NodeStatus::SUCCESS
        Which is: SUCCESS
  >>>

Summary: 867 tests, 0 errors, 5 failures, 0 skipped

@SteveMacenski SteveMacenski merged commit b4f0795 into ros-navigation:iron Jun 11, 2024
@christophfroehlich christophfroehlich deleted the reload_bt_iron branch June 12, 2024 07:00
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@christophfroehlich @SteveMacenski @huemerj