Tools: ros2: Add geopose test

[Ryanf55]

Purpose

• Add geopose test
• Add missing deps
• Reduce some duplication

How to test

source /opt/ros/humble/setup.bash
colcon build --packages-up-to ardupilot_dds_tests
colcon --log-level DEBUG test --packages-select ardupilot_dds_tests --event-handlers=console_direct+

Known issue

The heading reported by ROS2 never matches CMAC's configured heading. It's not clear whether the heading configured in locations.txt is magnetic or true north, but it's more off than that.

[srmainwaring]

Test hangs locally. When hitting ctrl+c, it will slowly kill all the tests, and then you get info:

Is it just the new test that is causing the hang, or all of them?

We already have tests covering best effort and reliable streams, so don't think that is the issue?

topic	QoS
ap/time	RELIABLE
ap/navsat/navsat0	BEST_EFFORT
ap/geopose/filtered	BEST_EFFORT

So yea, micro_ros_agent was not found because I forgot to source, but that shouldn't cause the test to hang forever.

Ah - just saw that tacked to the end. We could add a timeout on each test, otherwise it will just wait for the agent service. Or better, add a condition that the agent be present (and a timeout).

[Ryanf55]

Test hangs locally. When hitting ctrl+c, it will slowly kill all the tests, and then you get info:

Is it just the new test that is causing the hang, or all of them?

We already have tests covering best effort and reliable streams, so don't think that is the issue?

topic QoS
ap/time RELIABLE
ap/navsat/navsat0 BEST_EFFORT
ap/geopose/filtered BEST_EFFORT

So yea, micro_ros_agent was not found because I forgot to source, but that shouldn't cause the test to hang forever.

Ah - just saw that tacked to the end. We could add a timeout on each test, otherwise it will just wait for the agent service. Or better, add a condition that the agent be present (and a timeout).

Yea, a timeout would be great. Even with proper directory layout, the geopose test still fails and all the others pass. Locally, running the launch files, I get geopose data. Do you have any idea why that channel is not working when run through colcon test?

[Ryanf55]

Test hangs locally. When hitting ctrl+c, it will slowly kill all the tests, and then you get info:

Is it just the new test that is causing the hang, or all of them?

We already have tests covering best effort and reliable streams, so don't think that is the issue?

topic QoS
ap/time RELIABLE
ap/navsat/navsat0 BEST_EFFORT
ap/geopose/filtered BEST_EFFORT

So yea, micro_ros_agent was not found because I forgot to source, but that shouldn't cause the test to hang forever.

Ah - just saw that tacked to the end. We could add a timeout on each test, otherwise it will just wait for the agent service. Or better, add a condition that the agent be present (and a timeout).

Any recommendations on how to implement the best approach? I'd really like to get better test coverage of this interface in CI.

[Ryanf55]

I got the test to pass locally, there were a few typos. Instead of just checking we got a message, this also checks the position is correct.