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Support ROS Iron #8

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merged 7 commits into from
Aug 31, 2023
Merged

Support ROS Iron #8

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8625027
First pass Humble -> Iron
sloretz Aug 24, 2023
31fbf88
Bring back moveit third party repos
sloretz Aug 24, 2023
8f2b8dd
Update instructions for thirdparty moveit stuff for Iron
sloretz Aug 24, 2023
a104550
Fix pkg version for zenoh bridge vendor
Yadunund Aug 30, 2023
382b01b
abb_ros2 main branch
sloretz Aug 30, 2023
a6ddcbc
Fix CI for Iron (#11)
Yadunund Aug 31, 2023
2500abc
Explicitly kill zenoh processes
Yadunund Aug 31, 2023
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10 changes: 10 additions & 0 deletions nexus_integration_tests/test_parallel_wo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,11 +22,21 @@
from rclpy.action import ActionClient
from rclpy.action.client import ClientGoalHandle
from ros_testcase import RosTestCase
import subprocess


class ParallelWoTest(NexusTestCase):
@RosTestCase.timeout(60)
async def asyncSetUp(self):
# todo(YV): Find a better fix to the problem below.
# zenoh-bridge was bumped to 0.72 as part of the upgrade to
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I saw the same behavior with the previous zenoh version too. It's why I made the zenoh launch file launch the bridge directly instead of ros2 run - I thought the leftover processes might have been from ros2 run leaving them open.

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Ah I see. Sounds like the bridge may not be handling termination signals correctly?

# ROS 2 Iron. However with this upgrade, the bridge does not clearly
# terminate when a SIGINT is received leaving behind zombie bridge
# processes from previous test cases. As a result, workcell registration
# fails for this testcase due to multiple bridges remaining active.
# Hence we explicitly kill any zenoh processes before launching the test.
subprocess.Popen('pkill -9 -f zenoh', shell=True)

self.proc = managed_process(
("ros2", "launch", "nexus_integration_tests", "launch.py"),
)
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11 changes: 10 additions & 1 deletion nexus_integration_tests/test_pick_and_place.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,11 +25,20 @@
from rclpy.action import ActionClient
from rclpy.action.client import ClientGoalHandle, GoalStatus
from ros_testcase import RosTestCase

import subprocess

class PickAndPlaceTest(NexusTestCase):
@RosTestCase.timeout(60)
async def asyncSetUp(self):
# todo(YV): Find a better fix to the problem below.
# zenoh-bridge was bumped to 0.72 as part of the upgrade to
# ROS 2 Iron. However with this upgrade, the bridge does not clearly
# terminate when a SIGINT is received leaving behind zombie bridge
# processes from previous test cases. As a result, workcell registration
# fails for this testcase due to multiple bridges remaining active.
# Hence we explicitly kill any zenoh processes before launching the test.
subprocess.Popen('pkill -9 -f zenoh', shell=True)

self.proc = managed_process(
("ros2", "launch", "nexus_integration_tests", "launch.py"),
)
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