Remove duplicate tf for costmap tests (#4930)

Signed-off-by: mini-1235 <[email protected]>
ros-navigation · Mar 4, 2025 · 9677e68 · 9677e68
1 parent 7e3ae16
commit 9677e68
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Showing 2 changed files with 8 additions and 3 deletions.
diff --git a/nav2_costmap_2d/test/integration/CMakeLists.txt b/nav2_costmap_2d/test/integration/CMakeLists.txt
@@ -130,6 +130,7 @@ ament_add_test(plugin_container_tests
     TEST_MAP=${TEST_MAP_DIR}/TenByTen.yaml
     TEST_LAUNCH_DIR=${TEST_LAUNCH_DIR}
     TEST_EXECUTABLE=$<TARGET_FILE:plugin_container_tests_exec>
+    STATIC_ODOM_TO_BASE_LINK=true
 )
 
 ament_add_test(test_costmap_publisher_exec
@@ -140,6 +141,7 @@ ament_add_test(test_costmap_publisher_exec
     TEST_MAP=${TEST_MAP_DIR}/TenByTen.yaml
     TEST_LAUNCH_DIR=${TEST_LAUNCH_DIR}
     TEST_EXECUTABLE=$<TARGET_FILE:test_costmap_publisher_exec>
+    STATIC_ODOM_TO_BASE_LINK=true
 )
 
 ament_add_test(test_costmap_subscriber_exec
@@ -163,4 +165,4 @@ ament_add_test(test_costmap_subscriber_exec
 #   nav2_util::nav2_utils_core
 #   rclcpp::rclcpp
 #   tf2_ros::tf2_ros
-# )
+# )
diff --git a/nav2_costmap_2d/test/integration/costmap_tests_launch.py b/nav2_costmap_2d/test/integration/costmap_tests_launch.py
@@ -76,13 +76,16 @@ def main(argv=sys.argv[1:]):
         [
             IncludeLaunchDescription(PythonLaunchDescriptionSource([launchFile])),
             map_to_odom,
-            odom_to_base_link,
             lifecycle_manager,
         ]
     )
+    if os.getenv('STATIC_ODOM_TO_BASE_LINK') == 'true':
+        ld.add_action(odom_to_base_link)
 
     test1_action = ExecuteProcess(
-        cmd=[testExecutable], name='costmap_tests', output='screen'
+        cmd=[testExecutable],
+        name='costmap_tests',
+        output='screen'
     )
 
     lts = LaunchTestService()