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[hybrid planning] Add action abortion and test; improve the existing …
…test (#980) * Add action abortion and test; improve the existing test * Add controller run-dependency * Fix the clearing of robot trajectory when a collision would occur * Fix replanning if local planner is stuck * Lambda function everything * Thread safety for stop_hybrid_planning_ * Thread-safe state_ * Clang tidy * Update the planning scene properly * Update Servo test initial_positions.yaml Co-authored-by: Tyler Weaver <[email protected]>
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Original file line number | Diff line number | Diff line change |
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@@ -1,3 +1,28 @@ | ||
add_executable(hybrid_planning_demo_node hybrid_planning_demo_node.cpp) | ||
ament_target_dependencies(hybrid_planning_demo_node ${THIS_PACKAGE_INCLUDE_DEPENDS}) | ||
target_link_libraries(hybrid_planning_demo_node ${LIBRARIES}) | ||
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||
if(BUILD_TESTING) | ||
find_package(ament_lint_auto REQUIRED) | ||
find_package(ament_cmake_gtest REQUIRED) | ||
find_package(ros_testing REQUIRED) | ||
find_package(Boost REQUIRED COMPONENTS filesystem) | ||
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||
# These don't pass yet, disable them for now | ||
set(ament_cmake_copyright_FOUND TRUE) | ||
set(ament_cmake_cppcheck_FOUND TRUE) | ||
set(ament_cmake_cpplint_FOUND TRUE) | ||
set(ament_cmake_flake8_FOUND TRUE) | ||
set(ament_cmake_uncrustify_FOUND TRUE) | ||
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||
# Run all lint tests in package.xml except those listed above | ||
ament_lint_auto_find_test_dependencies() | ||
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# Basic integration tests | ||
ament_add_gtest_executable(test_basic_integration | ||
test_basic_integration.cpp | ||
) | ||
ament_target_dependencies(test_basic_integration ${THIS_PACKAGE_INCLUDE_DEPENDS}) | ||
add_ros_test(launch/test_basic_integration.test.py TIMEOUT 50 ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}") | ||
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||
endif() |
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