Errors occured when running colcon test #84
Description
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OS Version: Ubuntu 22.04
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ROS Version: ros2 humble
Hi team
after using colcon build to build this project, I used colcon test to check these packages. But two erros occured in opennav_docking package.
Here is the test result.
10/16 Testing: test_dock_database
10/16 Test: test_dock_database
Command: "/usr/bin/python3" "-u" "/home/qiguanxiao/ros2_humble/install/ament_cmake_test/share/ament_cmake_test/cmake/run_test.py" "/home/qiguanxiao/ws/ws_opennav_docking/build/opennav_docking/test_results/opennav_docking/test_dock_database.gtest.xml" "--package-name" "opennav_docking" "--output-file" "/home/qiguanxiao/ws/ws_opennav_docking/build/opennav_docking/ament_cmake_gtest/test_dock_database.txt" "--command" "/home/qiguanxiao/ws/ws_opennav_docking/build/opennav_docking/test/test_dock_database" "--gtest_output=xml:/home/qiguanxiao/ws/ws_opennav_docking/build/opennav_docking/test_results/opennav_docking/test_dock_database.gtest.xml"
Directory: /home/qiguanxiao/ws/ws_opennav_docking/build/opennav_docking/test
"test_dock_database" start time: May 22 18:07 CST
Output:
----------------------------------------------------------
-- run_test.py: invoking following command in '/home/qiguanxiao/ws/ws_opennav_docking/build/opennav_docking/test':
- /home/qiguanxiao/ws/ws_opennav_docking/build/opennav_docking/test/test_dock_database --gtest_output=xml:/home/qiguanxiao/ws/ws_opennav_docking/build/opennav_docking/test_results/opennav_docking/test_dock_database.gtest.xml
Running main() from /home/qiguanxiao/ros2_humble/install/gtest_vendor/src/gtest_vendor/src/gtest_main.cc
[==========] Running 4 tests from 1 test suite.
[----------] Global test environment set-up.
[----------] 4 tests from DatabaseTests
[ RUN ] DatabaseTests.ObjectLifecycle
[ERROR] [1747908448.481140889] [test]: Charging dock plugins not given!
[ERROR] [1747908448.481209214] [test]: An error occurred while getting the dock plugins!
[ OK ] DatabaseTests.ObjectLifecycle (10 ms)
[ RUN ] DatabaseTests.initializeBogusPlugins
[FATAL] [1747908448.487130886] [test]: Can not get 'plugin' param value for dockv1
Failed to delete datawriter, at ./src/publisher.cpp:48 during '__function__'
-- run_test.py: return code 255
-- run_test.py: generate result file '/home/qiguanxiao/ws/ws_opennav_docking/build/opennav_docking/test_results/opennav_docking/test_dock_database.gtest.xml' with failed test
-- run_test.py: verify result file '/home/qiguanxiao/ws/ws_opennav_docking/build/opennav_docking/test_results/opennav_docking/test_dock_database.gtest.xml'
<end of output>
Test time = 0.23 sec
----------------------------------------------------------
Test Failed.
"test_dock_database" end time: May 22 18:07 CST
"test_dock_database" time elapsed: 00:00:00
----------------------------------------------------------
and
15/16 Testing: test_docking_server_unit
15/16 Test: test_docking_server_unit
Command: "/usr/bin/python3" "-u" "/home/qiguanxiao/ros2_humble/install/ament_cmake_test/share/ament_cmake_test/cmake/run_test.py" "/home/qiguanxiao/ws/ws_opennav_docking/build/opennav_docking/test_results/opennav_docking/test_docking_server_unit.gtest.xml" "--package-name" "opennav_docking" "--output-file" "/home/qiguanxiao/ws/ws_opennav_docking/build/opennav_docking/ament_cmake_gtest/test_docking_server_unit.txt" "--command" "/home/qiguanxiao/ws/ws_opennav_docking/build/opennav_docking/test/test_docking_server_unit" "--gtest_output=xml:/home/qiguanxiao/ws/ws_opennav_docking/build/opennav_docking/test_results/opennav_docking/test_docking_server_unit.gtest.xml"
Directory: /home/qiguanxiao/ws/ws_opennav_docking/build/opennav_docking/test
"test_docking_server_unit" start time: May 22 18:07 CST
Output:
----------------------------------------------------------
-- run_test.py: invoking following command in '/home/qiguanxiao/ws/ws_opennav_docking/build/opennav_docking/test':
- /home/qiguanxiao/ws/ws_opennav_docking/build/opennav_docking/test/test_docking_server_unit --gtest_output=xml:/home/qiguanxiao/ws/ws_opennav_docking/build/opennav_docking/test_results/opennav_docking/test_docking_server_unit.gtest.xml
Running main() from /home/qiguanxiao/ros2_humble/install/gtest_vendor/src/gtest_vendor/src/gtest_main.cc
[==========] Running 4 tests from 1 test suite.
[----------] Global test environment set-up.
[----------] 4 tests from DockingServerTests
[ RUN ] DockingServerTests.ObjectLifecycle
[INFO] [1747908452.151420639] [docking_server]:
docking_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [1747908452.151541264] [docking_server]: Creating docking_server
[INFO] [1747908452.151628258] [docking_server]: Configuring docking_server
[INFO] [1747908452.151689903] [docking_server]: Controller frequency set to 50.0000Hz
[ERROR] [1747908452.158562357] [docking_server]: Charging dock plugins not given!
[ERROR] [1747908452.158587643] [docking_server]: An error occurred while getting the dock plugins!
[WARN] [1747908452.158599693] [rcl_lifecycle]: No transition matching 3 found for current state unconfigured
[ERROR] [1747908452.158603797] [docking_server]: Unable to start transition 3 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355
[WARN] [1747908452.158608169] [rcl_lifecycle]: No transition matching 4 found for current state unconfigured
[ERROR] [1747908452.158609846] [docking_server]: Unable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355
[WARN] [1747908452.158612504] [rcl_lifecycle]: No transition matching 2 found for current state unconfigured
[ERROR] [1747908452.158613867] [docking_server]: Unable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355
[INFO] [1747908452.158618106] [docking_server]: Shutting down docking_server
[INFO] [1747908452.159954690] [docking_server]: Destroying
[ OK ] DockingServerTests.ObjectLifecycle (17 ms)
[ RUN ] DockingServerTests.testErrorExceptions
[INFO] [1747908452.165008472] [docking_server]:
docking_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [1747908452.165042035] [docking_server]: Creating docking_server
[INFO] [1747908452.166582930] [docking_server]: Configuring docking_server
[INFO] [1747908452.166611418] [docking_server]: Controller frequency set to 50.0000Hz
[INFO] [1747908452.170726143] [docking_server]: Created charging dock plugin dock_plugin of type opennav_docking::TestFailureDock
[INFO] [1747908452.170839827] [docking_server]: Loading docks from parameter file.
[INFO] [1747908452.170947339] [docking_server]: Docking Server has 1 dock types and 1 dock instances available.
[INFO] [1747908452.171280326] [docking_server]: Activating docking_server
[INFO] [1747908452.174443197] [docking_server]: Creating bond (docking_server) to lifecycle manager.
[INFO] [1747908452.177803559] [docking_server]: Attempting to dock robot at charger test_dock.
[ERROR] [1747908452.177981665] [docking_server]: Transform error: TransformException
[WARN] [1747908452.178014803] [docking_server]: [dock_robot] [ActionServer] Aborting handle.
[INFO] [1747908452.179583322] [docking_server]: Attempting to dock robot at charger test_dock.
[ERROR] [1747908452.179656611] [docking_server]: DockNotInDB
[WARN] [1747908452.179678997] [docking_server]: [dock_robot] [ActionServer] Aborting handle.
[INFO] [1747908452.181361836] [docking_server]: Attempting to dock robot at charger test_dock.
[ERROR] [1747908452.181432295] [docking_server]: DockNotValid
[WARN] [1747908452.181453703] [docking_server]: [dock_robot] [ActionServer] Aborting handle.
[INFO] [1747908452.182848795] [docking_server]: Attempting to dock robot at charger test_dock.
[ERROR] [1747908452.182921144] [docking_server]: FailedToStage
[WARN] [1747908452.182943202] [docking_server]: [dock_robot] [ActionServer] Aborting handle.
[INFO] [1747908452.184281573] [docking_server]: Attempting to dock robot at charger test_dock.
[ERROR] [1747908452.184349937] [docking_server]: FailedToDetectDock
[WARN] [1747908452.184369093] [docking_server]: [dock_robot] [ActionServer] Aborting handle.
[INFO] [1747908452.185779515] [docking_server]: Attempting to dock robot at charger test_dock.
[ERROR] [1747908452.185849883] [docking_server]: FailedToControl
[WARN] [1747908452.185869217] [docking_server]: [dock_robot] [ActionServer] Aborting handle.
[INFO] [1747908452.187293181] [docking_server]: Attempting to dock robot at charger test_dock.
[ERROR] [1747908452.187362849] [docking_server]: FailedToCharge
[WARN] [1747908452.187382445] [docking_server]: [dock_robot] [ActionServer] Aborting handle.
[INFO] [1747908452.188763838] [docking_server]: Attempting to dock robot at charger test_dock.
[ERROR] [1747908452.188836075] [docking_server]: DockingException
[WARN] [1747908452.188855695] [docking_server]: [dock_robot] [ActionServer] Aborting handle.
[INFO] [1747908452.190257206] [docking_server]: Attempting to dock robot at charger test_dock.
[ERROR] [1747908452.190316979] [docking_server]: std::exception
[WARN] [1747908452.190335290] [docking_server]: [dock_robot] [ActionServer] Aborting handle.
[INFO] [1747908452.191901848] [docking_server]: Attempting to undock robot from charger of type .
[ERROR] [1747908452.191941120] [docking_server]: Transform error: TransformException
[WARN] [1747908452.191950788] [docking_server]: [undock_robot] [ActionServer] Aborting handle.
[INFO] [1747908452.193345959] [docking_server]: Attempting to undock robot from charger of type .
[ERROR] [1747908452.193379346] [docking_server]: DockNotValid
[WARN] [1747908452.193386717] [docking_server]: [undock_robot] [ActionServer] Aborting handle.
[INFO] [1747908452.194701024] [docking_server]: Attempting to undock robot from charger of type .
[ERROR] [1747908452.194733271] [docking_server]: FailedToControl
[WARN] [1747908452.194739874] [docking_server]: [undock_robot] [ActionServer] Aborting handle.
[INFO] [1747908452.196155500] [docking_server]: Attempting to undock robot from charger of type .
[ERROR] [1747908452.196205737] [docking_server]: DockingException
[WARN] [1747908452.196224926] [docking_server]: [undock_robot] [ActionServer] Aborting handle.
[INFO] [1747908452.197618851] [docking_server]: Attempting to undock robot from charger of type .
[ERROR] [1747908452.197660656] [docking_server]: Internal error: std::exception
[WARN] [1747908452.197668820] [docking_server]: [undock_robot] [ActionServer] Aborting handle.
[ OK ] DockingServerTests.testErrorExceptions (38 ms)
[ RUN ] DockingServerTests.getateGoalDock
[WARN] [1747908452.199265684] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[INFO] [1747908452.200674542] [docking_server]:
docking_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [1747908452.200698734] [docking_server]: Creating docking_server
[INFO] [1747908452.200752556] [docking_server]: Configuring docking_server
[INFO] [1747908452.200774093] [docking_server]: Controller frequency set to 50.0000Hz
[ERROR] [1747908452.203749677] [docking_server]: Charging dock plugins not given!
[ERROR] [1747908452.203784122] [docking_server]: An error occurred while getting the dock plugins!
[INFO] [1747908452.205217680] [docking_server]: Destroying
[ OK ] DockingServerTests.getateGoalDock (7 ms)
[ RUN ] DockingServerTests.testDynamicParams
[INFO] [1747908452.208061468] [docking_server]:
docking_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [1747908452.208093676] [docking_server]: Creating docking_server
[INFO] [1747908452.208148057] [docking_server]: Configuring docking_server
[INFO] [1747908452.208173397] [docking_server]: Controller frequency set to 50.0000Hz
[ERROR] [1747908452.210778341] [docking_server]: Charging dock plugins not given!
[ERROR] [1747908452.210801848] [docking_server]: An error occurred while getting the dock plugins!
[INFO] [1747908452.210807575] [docking_server]: Activating docking_server
[INFO] [1747908452.212041623] [docking_server]: Creating bond (docking_server) to lifecycle manager.
[INFO] [1747908452.217714352] [docking_server]: Destroying
[ OK ] DockingServerTests.testDynamicParams (13 ms)
[----------] 4 tests from DockingServerTests (75 ms total)
[----------] Global test environment tear-down
[==========] 4 tests from 1 test suite ran. (75 ms total)
[ PASSED ] 4 tests.
[INFO] [1747908452.322219190] [docking_server]: Running Nav2 LifecycleNode rcl preshutdown (docking_server)
[INFO] [1747908452.322482051] [docking_server]: Destroying bond (docking_server) to lifecycle manager.
terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
what(): failed to publish message: cannot publish data, at ./src/rmw_publish.cpp:62, at ./src/rcl/publisher.c:250
-- run_test.py: return code -6
-- run_test.py: inject classname prefix into gtest result file '/home/qiguanxiao/ws/ws_opennav_docking/build/opennav_docking/test_results/opennav_docking/test_docking_server_unit.gtest.xml'
-- run_test.py: verify result file '/home/qiguanxiao/ws/ws_opennav_docking/build/opennav_docking/test_results/opennav_docking/test_docking_server_unit.gtest.xml'
<end of output>
Test time = 0.34 sec
----------------------------------------------------------
Test Failed.
"test_docking_server_unit" end time: May 22 18:07 CST
"test_docking_server_unit" time elapsed: 00:00:00
----------------------------------------------------------
Here is the test result file.
Could you help me look into this issue? Is it normal? Thank you so much.