Run test with both worlds

.github/workflows/test.yaml

@@ -19,4 +19,4 @@ jobs:
       - uses: art-e-fact/action-artefacts-ci@main
         with:
           artefacts-api-key: ${{ secrets.ARTEFACTS_API_KEY }}
-          job-name: all
+          job-name: nav2

artefacts.yaml

@@ -4,7 +4,24 @@ project: artefacts/navigation2-ignition-example
 
 jobs:
 
-  all: # Overall job name
+  basic: # Only checks that things are loading
+    type: test
+    package:
+      docker:
+        build:
+          dockerfile: ./Dockerfile
+    runtime:
+      simulator: gazebo:fortress
+      framework: ros2:humble
+    timeout: 5 #minutes
+    scenarios:
+      defaults: # Global to all scenarios, and overriden in specific scenarios.
+        output_dirs: ["output"]
+      settings:
+        - name: bringup
+          ros_testfile: "src/sam_bot_nav2_gz/test/test_bringup.launch.py"
+
+  nav2:
     type: test
     package:
       docker:
@@ -21,9 +38,9 @@ jobs:
           - /odometry_error
           - /distance_from_start_gt
           - /distance_from_start_est
+        params:
+          launch/world: ["bookstore.sdf", "empty.sdf"]
       settings:
-        - name: bringup
-          ros_testfile: "src/sam_bot_nav2_gz/test/test_bringup.launch.py"
         - name: reach_goal
           ros_testfile: "src/sam_bot_nav2_gz/test/test_reach_goal.launch.py"
         - name: follow_waypoints

src/sam_bot_nav2_gz/launch/complete_navigation.launch.py

@@ -40,6 +40,7 @@ def generate_launch_description():
     navigation_ready_message = "Creating bond timer"
 
     run_headless = LaunchConfiguration("run_headless")
+    world_file = LaunchConfiguration("world_file")
 
     # Including launchfiles with execute process because i didn't find another way to wait for a certain messages befor starting the next launchfile
     bringup = ExecuteProcess(
@@ -57,6 +58,7 @@ def generate_launch_description():
             "use_rviz:=false",
             ["run_headless:=", run_headless],
             "use_localization:=false",
+            ["world_file:=", world_file]
         ],
         shell=False,
         output="screen",
@@ -169,6 +171,10 @@ def generate_launch_description():
                 default_value="False",
                 description="Start GZ in hedless mode and don't start RViz (overrides use_rviz)",
             ),
+            DeclareLaunchArgument(
+                name="world_file",
+                default_value="empty.sdf",
+            ),
             bringup,
             waiting_toolbox,
             waiting_navigation,

src/sam_bot_nav2_gz/launch/display.launch.py

@@ -19,6 +19,7 @@
 from launch_ros.substitutions import FindPackageShare
 import launch_ros
 import os
+from launch.substitutions import PathJoinSubstitution
 
 
 def generate_launch_description():
@@ -29,15 +30,17 @@ def generate_launch_description():
         pkg_share, "src/description/sam_bot_description.urdf"
     )
     default_rviz_config_path = os.path.join(pkg_share, "rviz/urdf_config.rviz")
-    world_path = os.path.join(pkg_share, "world/empty.sdf")
-    gz_models_path = os.path.join(pkg_share, "models")
 
     use_sim_time = LaunchConfiguration("use_sim_time")
     use_localization = LaunchConfiguration("use_localization")
     use_rviz = LaunchConfiguration("use_rviz")
     log_level = LaunchConfiguration("log_level")
     gz_verbosity = LaunchConfiguration("gz_verbosity")
     run_headless = LaunchConfiguration("run_headless")
+    world_file_name = LaunchConfiguration("world_file")
+    gz_models_path = ":".join([pkg_share, os.path.join(pkg_share, "models")])
+    #gz_models_path = os.path.join(pkg_share, "models")
+    world_path = PathJoinSubstitution([pkg_share, "world", world_file_name])
 
     robot_state_publisher_node = Node(
         package="robot_state_publisher",
@@ -192,10 +195,6 @@ def generate_launch_description():
                 name="IGN_GAZEBO_RESOURCE_PATH",
                 value=gz_models_path,
             ),
-            SetEnvironmentVariable(
-                name="IGN_GAZEBO_MODEL_PATH",
-                value=gz_models_path,
-            ),
             DeclareLaunchArgument(
                 name="model",
                 default_value=default_model_path,
@@ -211,6 +210,10 @@ def generate_launch_description():
                 default_value="False",
                 description="Start GZ in hedless mode and don't start RViz (overrides use_rviz)",
             ),
+            DeclareLaunchArgument(
+                name="world_file",
+                default_value="empty.sdf",
+            ),
             DeclareLaunchArgument(
                 name="rvizconfig",
                 default_value=default_rviz_config_path,

src/sam_bot_nav2_gz/test/test_reach_goal.launch.py

@@ -11,12 +11,17 @@
 import pytest
 from artefacts_toolkit.rosbag import rosbag, image_topics
 from artefacts_toolkit.chart import make_chart
+from artefacts_toolkit.config import get_artefacts_param
 
 
 # This function specifies the processes to be run for our test
 @pytest.mark.launch_test
 @launch_testing.markers.keep_alive
 def generate_test_description():
+    try:
+        world = get_artefacts_param("launch", "world")
+    except FileNotFoundError:
+        world = "empty.world"
     launch_navigation_stack = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             [
@@ -27,7 +32,7 @@ def generate_test_description():
                 ),
             ]
         ),
-        launch_arguments=[("run_headless", "True")],
+        launch_arguments=[("run_headless", "True"), ("world_file", world)],
     )
 
     reach_goal = Node(