easynav_support_py

Support utilities for EasyNav in Python: GoalManagerClient and tests.

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README

easynav_support_py

ROS 2 package (ament_python) that ships the Python module easynav_goalmanager_py with a drop-in GoalManagerClient compatible with the C++ GoalManager, plus exhaustive tests.

Python import

from easynav_goalmanager_py import GoalManagerClient, ClientState

Build

colcon build --packages-select easynav_support_py
. install/setup.bash

Tests

• Unit (exhaustive): test/test_goalmanager_client_unit.py injects synthetic NavigationControl messages to cover all state transitions (ACCEPT, REJECT, FINISHED, FAILED, CANCELLED, ERROR, FEEDBACK).

Run:

colcon test --packages-select easynav_support_py --event-handlers console_direct+
colcon test-result --all