test: fix tests for colcon

ubi-agni · Dec 5, 2024 · 98ab8d3 · 98ab8d3
1 parent 1042cbf
commit 98ab8d3
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Showing 3 changed files with 18 additions and 1 deletion.
diff --git a/mujoco_ros/test/CMakeLists.txt b/mujoco_ros/test/CMakeLists.txt
@@ -71,5 +71,6 @@ install(FILES
   empty_world.xml
   equality_world.xml
   camera_world.xml
+  pendulum_world.xml
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/test
 )
diff --git a/mujoco_ros/test/mujoco_env_test.cpp b/mujoco_ros/test/mujoco_env_test.cpp
@@ -49,7 +49,21 @@ int main(int argc, char **argv)
 {
 	::testing::InitGoogleTest(&argc, argv);
 	ros::init(argc, argv, "mujoco_env_test");
-	return RUN_ALL_TESTS();
+
+	// Uncomment to enable debug output (useful for debugging failing tests)
+	// ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug);
+	// ros::console::notifyLoggerLevelsChanged();
+
+	// Create spinner to communicate with ROS
+	ros::AsyncSpinner spinner(1);
+	spinner.start();
+	ros::NodeHandle nh;
+	int ret = RUN_ALL_TESTS();
+
+	// Stop spinner and shutdown ROS before returning
+	spinner.stop();
+	ros::shutdown();
+	return ret;
 }
 
 using namespace mujoco_ros;

diff --git a/mujoco_ros/test/mujoco_ros_plugin_test.cpp b/mujoco_ros/test/mujoco_ros_plugin_test.cpp
@@ -162,6 +162,8 @@ TEST_F(BaseEnvFixture, RenderCallback)
 		}
 	}
 
+	ASSERT_NE(test_plugin, nullptr) << "TestPlugin not found!";
+
 	// wait for render callback to be called
 	float seconds = 0;
 	while (!test_plugin->ran_render_cb.load() && seconds < 1.) {