integration tests different wind speed threshold logic#872
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alberto-escobar
Description
title
Verification
ros@a78b6b3e-7e94-48e7-b25e-d08ddf2f3862:/workspaces/sailbot_workspace/src/controller$ cd /workspaces/sailbot_workspace
ros@a78b6b3e-7e94-48e7-b25e-d08ddf2f3862:/workspaces/sailbot_workspace$ source install/setup.bash
ros@a78b6b3e-7e94-48e7-b25e-d08ddf2f3862:/workspaces/sailbot_workspace$ launch_test src/controller/tests/integration/test_controller_integration.py
[INFO] [launch]: All log files can be found below /home/ros/.ros/log/2026-04-04-16-04-33-819234-a78b6b3e-7e94-48e7-b25e-d08ddf2f3862-3482
[INFO] [launch]: Default logging verbosity is set to INFO
test_above_upper_threshold (test_controller_integration.TestWingsailSafetyLogic) ... [INFO] [wingsail_ctrl_node-1]: process started with pid [3499]
[wingsail_ctrl_node-1] [INFO] [1775343875.921845257] [wingsail_ctrl_node:173]: Published to sail_cmd the following angle: 5.95
[wingsail_ctrl_node-1] [INFO] [1775343876.219765421] [wingsail_ctrl_node:193]: Received data from filtered_wind_sensor
[wingsail_ctrl_node-1] [INFO] [1775343876.887838798] [wingsail_ctrl_node:173]: Published to sail_cmd the following angle: 0.0
[wingsail_ctrl_node-1] [INFO] [1775343877.887778665] [wingsail_ctrl_node:173]: Published to sail_cmd the following angle: 0.0
ok
test_below_lower_threshold (test_controller_integration.TestWingsailSafetyLogic) ... [wingsail_ctrl_node-1] [INFO] [1775343878.887750513] [wingsail_ctrl_node:173]: Published to sail_cmd the following angle: 0.0
[wingsail_ctrl_node-1] [INFO] [1775343879.887765108] [wingsail_ctrl_node:173]: Published to sail_cmd the following angle: 0.0
[wingsail_ctrl_node-1] [INFO] [1775343880.233679938] [wingsail_ctrl_node:193]: Received data from filtered_wind_sensor
[wingsail_ctrl_node-1] [INFO] [1775343880.887586395] [wingsail_ctrl_node:173]: Published to sail_cmd the following angle: 6.5689202505807005
[wingsail_ctrl_node-1] [INFO] [1775343881.887678265] [wingsail_ctrl_node:173]: Published to sail_cmd the following angle: 6.5689202505807005
ok
test_between_thresholds (test_controller_integration.TestWingsailSafetyLogic) ... [wingsail_ctrl_node-1] [INFO] [1775343882.887657393] [wingsail_ctrl_node:173]: Published to sail_cmd the following angle: 6.5689202505807005
[wingsail_ctrl_node-1] [INFO] [1775343883.887598254] [wingsail_ctrl_node:173]: Published to sail_cmd the following angle: 6.5689202505807005
[wingsail_ctrl_node-1] [INFO] [1775343884.246693987] [wingsail_ctrl_node:193]: Received data from filtered_wind_sensor
[wingsail_ctrl_node-1] [INFO] [1775343884.887804677] [wingsail_ctrl_node:173]: Published to sail_cmd the following angle: 4.311405645104526
[wingsail_ctrl_node-1] [INFO] [1775343885.887810697] [wingsail_ctrl_node:173]: Published to sail_cmd the following angle: 4.311405645104526
ok
Ran 3 tests in 12.374s
OK
[INFO] [wingsail_ctrl_node-1]: sending signal 'SIGINT' to process[wingsail_ctrl_node-1]
[wingsail_ctrl_node-1] Traceback (most recent call last):
[wingsail_ctrl_node-1] File "/workspaces/sailbot_workspace/install/lib/controller/wingsail_ctrl_node", line 33, in
[wingsail_ctrl_node-1] sys.exit(load_entry_point('controller==0.0.0', 'console_scripts', 'wingsail_ctrl_node')())
[wingsail_ctrl_node-1] File "/workspaces/sailbot_workspace/install/lib/python3.10/site-packages/controller/wingsail/wingsail_ctrl_node.py", line 22, in main
[wingsail_ctrl_node-1] rclpy.spin(node=node)
[wingsail_ctrl_node-1] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/init.py", line 229, in spin
[wingsail_ctrl_node-1] executor.spin_once()
[wingsail_ctrl_node-1] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 751, in spin_once
[wingsail_ctrl_node-1] self._spin_once_impl(timeout_sec)
[wingsail_ctrl_node-1] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 740, in _spin_once_impl
[wingsail_ctrl_node-1] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec)
[wingsail_ctrl_node-1] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 723, in wait_for_ready_callbacks
[wingsail_ctrl_node-1] return next(self._cb_iter)
[wingsail_ctrl_node-1] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 620, in _wait_for_ready_callbacks
[wingsail_ctrl_node-1] wait_set.wait(timeout_nsec)
[wingsail_ctrl_node-1] KeyboardInterrupt
[ERROR] [wingsail_ctrl_node-1]: process has died [pid 3499, exit code -2, cmd '/workspaces/sailbot_workspace/install/lib/controller/wingsail_ctrl_node --ros-args --params-file /workspaces/sailbot_workspace/src/global_launch/config/globals.yaml'].
Ran 0 tests in 0.000s
OK
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