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IntelLabs · Jul 25, 2024 · 6b37d9c · 6b37d9c
1 parent 9c367b5
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Showing 7 changed files with 11 additions and 45 deletions.
diff --git a/libs/scenario_execution_gazebo/scenario_execution_gazebo/actions/utils.py b/libs/scenario_execution_gazebo/scenario_execution_gazebo/actions/utils.py
@@ -17,7 +17,6 @@
 import os
 import subprocess  # nosec B404
 import glob
-from shutil import which
 import defusedxml.ElementTree
 from ament_index_python import get_package_share_directory
 from pathlib import Path
@@ -242,7 +241,7 @@ def find_mesh(self, mesh_name: str, entity_name: str) -> str:
                 print(f'[{entity_name}] unrecognized model file definition: {mesh_name}')
         return None
 
-    def get_env():
+    def get_env():  # pylint: disable=no-method-argument
         if "ROS_DISTRO" not in os.environ:
             raise ValueError("ROS_DISTRO not set.")
 

diff --git a/scenario_execution_ros/scenarios/test/test_ros_service_call.osc b/scenario_execution_ros/scenarios/test/test_ros_service_call.osc
@@ -8,5 +8,4 @@ scenario test_ros_service_call:
             keep(it.service_name == '/bla')
             keep(it.service_type == 'std_srvs.srv.SetBool')
             keep(it.data == '{\"data\": True}')
-        wait elapsed(2s)
-        emit_arrival: emit end
+        emit end
diff --git a/scenario_execution_ros/scenarios/test/test_ros_service_call_blocking.osc b/scenario_execution_ros/scenarios/test/test_ros_service_call_blocking.osc
@@ -9,65 +9,34 @@ scenario test_ros_service_call_blocking:
                 keep(it.service_name == '/bla_service')
                 keep(it.service_type == 'std_srvs.srv.SetBool')
                 keep(it.data == '{\"data\": True}')
-            wait elapsed(10s)
             emit end
         test2: serial:
             topic_publish() with:
                 keep(it.topic_name == '/bla')
                 keep(it.topic_type == 'std_msgs.msg.Int32')
                 keep(it.value == '{\"data\": 0}')
-            wait elapsed(1s)
+            wait elapsed(2s)
             topic_publish() with:
                 keep(it.topic_name == '/bla')
                 keep(it.topic_type == 'std_msgs.msg.Int32')
                 keep(it.value == '{\"data\": 1}')
-            wait elapsed(1s)
+            wait elapsed(2s)
             topic_publish() with:
                 keep(it.topic_name == '/bla')
                 keep(it.topic_type == 'std_msgs.msg.Int32')
                 keep(it.value == '{\"data\": 2}')
-            wait elapsed(1s)
+            wait elapsed(2s)
             topic_publish() with:
                 keep(it.topic_name == '/bla')
                 keep(it.topic_type == 'std_msgs.msg.Int32')
                 keep(it.value == '{\"data\": 3}')
-            wait elapsed(1s)
+            wait elapsed(2s)
             topic_publish() with:
                 keep(it.topic_name == '/bla')
                 keep(it.topic_type == 'std_msgs.msg.Int32')
                 keep(it.value == '{\"data\": 4}')
-            wait elapsed(1s)
+            wait elapsed(2s)
             topic_publish() with:
                 keep(it.topic_name == '/bla')
                 keep(it.topic_type == 'std_msgs.msg.Int32')
                 keep(it.value == '{\"data\": 5}')
-            wait elapsed(1s)
-            topic_publish() with:
-                keep(it.topic_name == '/bla')
-                keep(it.topic_type == 'std_msgs.msg.Int32')
-                keep(it.value == '{\"data\": 6}')
-            wait elapsed(1s)
-            topic_publish() with:
-                keep(it.topic_name == '/bla')
-                keep(it.topic_type == 'std_msgs.msg.Int32')
-                keep(it.value == '{\"data\": 7}')
-            wait elapsed(1s)
-            topic_publish() with:
-                keep(it.topic_name == '/bla')
-                keep(it.topic_type == 'std_msgs.msg.Int32')
-                keep(it.value == '{\"data\": 8}')
-            wait elapsed(1s)
-            topic_publish() with:
-                keep(it.topic_name == '/bla')
-                keep(it.topic_type == 'std_msgs.msg.Int32')
-                keep(it.value == '{\"data\": 9}')
-            wait elapsed(1s)
-            topic_publish() with:
-                keep(it.topic_name == '/bla')
-                keep(it.topic_type == 'std_msgs.msg.Int32')
-                keep(it.value == '{\"data\": 10}')
-            wait elapsed(1s)
-            topic_publish() with:
-                keep(it.topic_name == '/bla')
-                keep(it.topic_type == 'std_msgs.msg.Int32')
-                keep(it.value == '{\"data\": 11}')
diff --git a/scenario_execution_ros/scenarios/test/test_ros_set_node_parameter.osc b/scenario_execution_ros/scenarios/test/test_ros_set_node_parameter.osc
@@ -12,4 +12,3 @@ scenario test_ros_set_node_parameter:
             keep(it.node_name == '/test_node')
             keep(it.parameter_name == 'testBoolParam')
             keep(it.parameter_value == 'True')
-        wait elapsed(3s)
diff --git a/scenario_execution_ros/test/test_ros_service_call_blocking.py b/scenario_execution_ros/test/test_ros_service_call_blocking.py
@@ -85,6 +85,6 @@ def test_success(self):
         for elem in self.received_msgs[1:]:
             self.assertGreater(elem[1].data, prev_elem[1].data)
             time_since_last = elem[0]-prev_elem[0]
-            self.assertGreaterEqual(time_since_last, rclpy.duration.Duration(seconds=0.5))
-            self.assertLessEqual(time_since_last, rclpy.duration.Duration(seconds=1.7))
+            self.assertGreaterEqual(time_since_last, rclpy.duration.Duration(seconds=1.0))
+            self.assertLessEqual(time_since_last, rclpy.duration.Duration(seconds=3.0))
             prev_elem = elem
diff --git a/simulation/gazebo/gazebo_static_camera/launch/spawn_static_camera_launch.py b/simulation/gazebo/gazebo_static_camera/launch/spawn_static_camera_launch.py
@@ -18,7 +18,7 @@
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, SetLaunchConfiguration
+from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration, PythonExpression, EnvironmentVariable
 from launch.substitutions.path_join_substitution import PathJoinSubstitution
 from launch.conditions import IfCondition, UnlessCondition

diff --git a/simulation/gazebo/tb4_sim_scenario/launch/sim_nav_scenario_launch.py b/simulation/gazebo/tb4_sim_scenario/launch/sim_nav_scenario_launch.py
@@ -34,7 +34,7 @@ def generate_launch_description():
     tf_to_pose_publisher_dir = get_package_share_directory('tf_to_pose_publisher')
     try:
         nav2_minimal_tb4_sim_dir = get_package_share_directory('nav2_minimal_tb4_sim')
-    except:
+    except Exception: # pylint: disable=broad-except
         nav2_minimal_tb4_sim_dir = ""
 
     scenario = LaunchConfiguration('scenario')