change class name

rosbot_xl_gazebo/test/test_diff_drive_simulation.py

@@ -26,7 +26,7 @@
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_testing.actions import ReadyToTest
 from launch_testing.util import KeepAliveProc
-from test_utils import SimulationTest, diff_test
+from test_utils import SimulationTestNode, diff_test
 from test_ign_kill_utils import kill_ign_linux_processes
 from threading import Thread
 
@@ -71,7 +71,7 @@ def generate_test_description():
 def test_diff_drive_simulation():
     rclpy.init()
     try:
-        node = SimulationTest("test_diff_drive_simulation")
+        node = SimulationTestNode("test_diff_drive_simulation")
         Thread(target=lambda node: rclpy.spin(node), args=(node,)).start()
 
         diff_test(node)

rosbot_xl_gazebo/test/test_mecanum_simulation.py

@@ -26,7 +26,7 @@
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_testing.actions import ReadyToTest
 from launch_testing.util import KeepAliveProc
-from test_utils import SimulationTest, mecanum_test
+from test_utils import SimulationTestNode, mecanum_test
 from test_ign_kill_utils import kill_ign_linux_processes
 from threading import Thread
 
@@ -72,7 +72,7 @@ def generate_test_description():
 def test_mecanum_simulation():
     rclpy.init()
     try:
-        node = SimulationTest("test_mecanum_simulation")
+        node = SimulationTestNode("test_mecanum_simulation")
         Thread(target=lambda node: rclpy.spin(node), args=(node,)).start()
 
         mecanum_test(node)

rosbot_xl_gazebo/test/test_multirobot_diff_drive_simulation.py

@@ -24,7 +24,7 @@
 from launch_testing.actions import ReadyToTest
 from launch_testing.util import KeepAliveProc
 from rclpy.executors import SingleThreadedExecutor
-from test_utils import SimulationTest, diff_test
+from test_utils import SimulationTestNode, diff_test
 from test_ign_kill_utils import kill_ign_linux_processes
 from threading import Thread
 
@@ -68,7 +68,7 @@ def test_multirobot_diff_drive_simulation():
         executor = SingleThreadedExecutor()
 
         for node_namespace in robots:
-            node = SimulationTest("test_multirobot_diff_drive_simulation", namespace=node_namespace)
+            node = SimulationTestNode("test_multirobot_diff_drive_simulation", namespace=node_namespace)
             nodes[node_namespace] = node
             executor.add_node(node)
 

rosbot_xl_gazebo/test/test_multirobot_mecanum_simulation.py

@@ -24,7 +24,7 @@
 from launch_testing.actions import ReadyToTest
 from launch_testing.util import KeepAliveProc
 from rclpy.executors import SingleThreadedExecutor
-from test_utils import SimulationTest, mecanum_test
+from test_utils import SimulationTestNode, mecanum_test
 from test_ign_kill_utils import kill_ign_linux_processes
 from threading import Thread
 
@@ -69,7 +69,7 @@ def test_multirobot_mecanum_simulation():
         executor = SingleThreadedExecutor()
 
         for node_namespace in robots:
-            node = SimulationTest("test_multirobot_mecanum_simulation", namespace=node_namespace)
+            node = SimulationTestNode("test_multirobot_mecanum_simulation", namespace=node_namespace)
             nodes[node_namespace] = node
             executor.add_node(node)
 

rosbot_xl_gazebo/test/test_namespaced_diff_drive_simulation.py

@@ -26,7 +26,7 @@
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_testing.actions import ReadyToTest
 from launch_testing.util import KeepAliveProc
-from test_utils import SimulationTest, diff_test
+from test_utils import SimulationTestNode, diff_test
 from test_ign_kill_utils import kill_ign_linux_processes
 from threading import Thread
 
@@ -73,7 +73,7 @@ def generate_test_description():
 def test_namespaced_diff_drive_simulation():
     rclpy.init()
     try:
-        node = SimulationTest("test_namespaced_diff_drive_simulation", namespace="rosbot_xl")
+        node = SimulationTestNode("test_namespaced_diff_drive_simulation", namespace="rosbot_xl")
         Thread(target=lambda node: rclpy.spin(node), args=(node,)).start()
 
         diff_test(node)

rosbot_xl_gazebo/test/test_namespaced_mecanum_simulation.py

@@ -25,7 +25,7 @@
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_testing.actions import ReadyToTest
 from launch_testing.util import KeepAliveProc
-from test_utils import SimulationTest, mecanum_test
+from test_utils import SimulationTestNode, mecanum_test
 from test_ign_kill_utils import kill_ign_linux_processes
 from threading import Thread
 
@@ -72,7 +72,7 @@ def generate_test_description():
 def test_namespaced_mecanum_simulation():
     rclpy.init()
     try:
-        node = SimulationTest("test_namespaced_mecanum_simulation", namespace="rosbot_xl")
+        node = SimulationTestNode("test_namespaced_mecanum_simulation", namespace="rosbot_xl")
         Thread(target=lambda node: rclpy.spin(node), args=(node,)).start()
 
         mecanum_test(node)

rosbot_xl_gazebo/test/test_utils.py

@@ -23,7 +23,7 @@
 from sensor_msgs.msg import LaserScan, Image, Imu, JointState, PointCloud2
 
 
-class SimulationTest(Node):
+class SimulationTestNode(Node):
     __test__ = False
 
     # The inaccuracies in measurement uncertainties and wheel slippage
@@ -186,11 +186,11 @@ def __exit__(self, exep_type, exep_value, trace):
         self.shutdown()
 
 
-def wait_for_initialization(node: SimulationTest, robot_name="ROSbot"):
+def wait_for_initialization(node: SimulationTestNode, robot_name="ROSbot"):
     assert node.robot_initialized_event.wait(30), f"{robot_name} does not initialized correctly!"
 
 
-def x_speed_test(node: SimulationTest, v_x=0.0, v_y=0.0, v_yaw=0.0, robot_name="ROSbot"):
+def x_speed_test(node: SimulationTestNode, v_x=0.0, v_y=0.0, v_yaw=0.0, robot_name="ROSbot"):
     node.set_destination_speed(v_x, v_y, v_yaw)
     # node.rate.sleep()
     assert node.vel_stabilization_time_event.wait(20.0), (
@@ -209,7 +209,7 @@ def x_speed_test(node: SimulationTest, v_x=0.0, v_y=0.0, v_yaw=0.0, robot_name="
     )
 
 
-def y_speed_test(node: SimulationTest, v_x=0.0, v_y=0.0, v_yaw=0.0, robot_name="ROSbot"):
+def y_speed_test(node: SimulationTestNode, v_x=0.0, v_y=0.0, v_yaw=0.0, robot_name="ROSbot"):
     node.set_destination_speed(v_x, v_y, v_yaw)
 
     assert node.vel_stabilization_time_event.wait(20.0), (
@@ -228,7 +228,7 @@ def y_speed_test(node: SimulationTest, v_x=0.0, v_y=0.0, v_yaw=0.0, robot_name="
     )
 
 
-def yaw_speed_test(node: SimulationTest, v_x=0.0, v_y=0.0, v_yaw=0.0, robot_name="ROSbot"):
+def yaw_speed_test(node: SimulationTestNode, v_x=0.0, v_y=0.0, v_yaw=0.0, robot_name="ROSbot"):
     node.set_destination_speed(v_x, v_y, v_yaw)
 
     assert node.vel_stabilization_time_event.wait(20.0), (
@@ -246,15 +246,15 @@ def yaw_speed_test(node: SimulationTest, v_x=0.0, v_y=0.0, v_yaw=0.0, robot_name
     ), f"{robot_name} does not rotate properly. Check ekf_filter_node! Twist: {node.ekf_twist}"
 
 
-def diff_test(node: SimulationTest, robot_name="ROSbot"):
+def diff_test(node: SimulationTestNode, robot_name="ROSbot"):
     wait_for_initialization(node, robot_name)
     # 0.8 m/s and 3.14 rad/s are controller's limits defined in
     # rosbot_xl_controller/config/mecanum_drive_controller.yaml
     x_speed_test(node, v_x=0.8, robot_name=robot_name)
     yaw_speed_test(node, v_yaw=3.14, robot_name=robot_name)
 
 
-def mecanum_test(node: SimulationTest, robot_name="ROSbot"):
+def mecanum_test(node: SimulationTestNode, robot_name="ROSbot"):
     wait_for_initialization(node, robot_name)
     # 0.8 m/s and 3.14 rad/s are controller's limits defined in
     # rosbot_xl_controller/config/mecanum_drive_controller.yaml