Fix launch tests [skip ci]

Author: hmakelin

ros/gisnav/Makefile

@@ -3,12 +3,12 @@ SHELL := /bin/bash
 # test
 .PHONY: test-sitl
 test-sitl:
-	@python gisnav/test/sitl/test_sitl.py px4 \
+	@python test/sitl/test_sitl.py px4 \
 		|| (echo "SITL test failed, exit code: $$?"; exit 1)
 
 .PHONY: test-launch
 test-launch:
-	@launch_test gisnav/test/launch/test_default_launch.py
+	@launch_test test/launch/test_default_launch.py
 
 .PHONY: test-unit
 test-unit:

ros/gisnav/gisnav/__init__.py

@@ -10,11 +10,14 @@
 import cProfile
 import io
 import pstats
-from threading import Thread
 from typing import Optional, Union
 
 import rclpy
-from rclpy.executors import MultiThreadedExecutor, SingleThreadedExecutor
+from rclpy.executors import (
+    ExternalShutdownException,
+    MultiThreadedExecutor,
+    SingleThreadedExecutor,
+)
 from rclpy.node import Node
 
 from .constants import (
@@ -107,7 +110,6 @@ def _run(constructor: rclpy.node.Node, *args, **kwargs):
 
     node: Optional[Node] = None
     executor: Optional[Union[MultiThreadedExecutor, SingleThreadedExecutor]] = None
-    spin_thread: Optional[Thread] = None
 
     try:
         rclpy.init()
@@ -128,17 +130,13 @@ def _run(constructor: rclpy.node.Node, *args, **kwargs):
             executor = MultiThreadedExecutor()
             executor.add_node(node)
             executor.spin()
-
-            # spin_thread = Thread(target=executor.spin, daemon=True)
-            # spin_thread.start()
-            # spin_thread.join()
         else:
             executor = SingleThreadedExecutor()
             executor.add_node(node)
             executor.spin()
 
-    except KeyboardInterrupt as e:
-        print(f"Keyboard interrupt received:\n{e}")
+    except (KeyboardInterrupt, ExternalShutdownException) as e:
+        print(f"External shutdown/keyboard interrupt received:\n{e}")
         if profile is not None:
             assert __debug__
             # Print out cProfile stats
@@ -151,10 +149,9 @@ def _run(constructor: rclpy.node.Node, *args, **kwargs):
     finally:
         if executor is not None:
             executor.shutdown()
-        if spin_thread is not None:
-            spin_thread.join()
         if node is not None:
             node.destroy_node()
+
         rclpy.shutdown()
 
 

ros/gisnav/test/launch/test_default_launch.py

@@ -14,7 +14,7 @@
 def generate_test_description():
     """Generates a PX4 launch description"""
     dirname = os.path.dirname(__file__)
-    filename = os.path.join(dirname, "../../launch/default.launch.py")
+    filename = os.path.join(dirname, "../../launch/local.launch.py")
     ld = IncludeLaunchDescription(PythonLaunchDescriptionSource(filename))
     return LaunchDescription(
         [

ros/gisnav/test/launch/testcases.py

@@ -33,13 +33,10 @@ class TestTopographyCase(unittest.TestCase):
         "/gisnav/bbox_node/fov/bounding_box",
         "/gisnav/gis_node/orthoimage",
         "/gisnav/stereo_node/pose_image",
-        "/gisnav/stereo_node/twist_image",
         "/gisnav/pose_node/pose",
-        "/gisnav/pose_node/vo/pose",
         "/mavros/gimbal_control/device/attitude_status",
         "/mavros/global_position/global",
         "/mavros/local_position/pose",
-        "/mavros/time_reference",
         "/rosout",
         "/tf",
         "/tf_static",
@@ -53,13 +50,10 @@ class TestTopographyCase(unittest.TestCase):
         "geographic_msgs/msg/BoundingBox",
         "gisnav_msgs/msg/OrthoImage",
         "gisnav_msgs/msg/OrthoStereoImage",
-        "gisnav_msgs/msg/MonocularStereoImage",
-        "geometry_msgs/msg/PoseWithCovarianceStamped",
         "geometry_msgs/msg/PoseWithCovarianceStamped",
         "mavros_msgs/msg/GimbalDeviceAttitudeStatus",
         "sensor_msgs/msg/NavSatFix",
         "geometry_msgs/msg/PoseStamped",
-        "sensor_msgs/msg/TimeReference",
         "rcl_interfaces/msg/Log",
         "tf2_msgs/msg/TFMessage",
         "tf2_msgs/msg/TFMessage",