added to scan test, odom test

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>

rosbot_xl_bringup/test/test_scan_filter.py

@@ -56,10 +56,15 @@ def test_scan_filter():
         node.start_publishing_fake_hardware()
 
         node.start_node_thread()
-        # msgs_received_flag = node.scan_filter_event.wait(timeout=10.0)
-        # assert (
-        #     msgs_received_flag
-        # ), "Expected filtered scan but it is not filtered properly. Check laser_filter!"
+        msgs_received_flag = node.scan_filter_event.wait(timeout=10.0)
+        assert (
+            msgs_received_flag
+        ), "Expected filtered scan but it is not filtered properly. Check laser_filter!"
+
+        msgs_received_flag = node.odom_tf_event.wait(timeout=10.0)
+        assert (
+            msgs_received_flag
+        ), "Expected odom to base_link tf but it was not received. Check robot_localization!"
 
     finally:
         rclpy.shutdown()

rosbot_xl_bringup/test/test_utils.py

@@ -45,10 +45,10 @@ def create_test_subscribers_and_publishers(self):
         self.tf_buffer = Buffer()
         self.tf_listener = TransformListener(self.tf_buffer, self)
 
-        # self.scan_publisher = self.create_publisher(LaserScan, "scan", 10)
-        # self.filtered_scan_subscriber = self.create_subscription(
-        #     LaserScan, "scan_filtered", self.filtered_scan_callback, 10
-        # )
+        self.scan_publisher = self.create_publisher(LaserScan, "scan", 10)
+        self.filtered_scan_subscriber = self.create_subscription(
+            LaserScan, "scan_filtered", self.filtered_scan_callback, 10
+        )
 
         self.timer = None
 
@@ -76,7 +76,7 @@ def filtered_scan_callback(self, msg: LaserScan):
     def timer_callback(self):
         self.publish_fake_hardware_messages()
         self.lookup_transform_odom()
-        # self.publish_scan()
+        self.publish_scan()
 
     def publish_fake_hardware_messages(self):
         imu_msg = Imu()