============================= test session starts ============================== platform linux -- Python 3.10.12, pytest-6.2.5, py-1.10.0, pluggy-0.13.0 cachedir: /home/pi/ros2_ws/build/ardupilot_dds_tests/.pytest_cache rootdir: /home/pi/ros2_ws/src/ardupilot/Tools/ros2/ardupilot_dds_tests plugins: ament-flake8-0.12.9, launch-pytest-1.0.4, launch-testing-1.0.4, launch-testing-ros-0.19.6, ament-black-0.2.3, ament-xmllint-0.12.9, ament-lint-0.12.9, ament-copyright-0.12.9, ament-pep257-0.12.9, colcon-core-0.15.1, cov-3.0.0 collected 7 items test/test_copyright.py . [ 14%] test/test_pep257.py . [ 28%] test/ardupilot_dds_tests/test_navsat_msg_received.py FF [ 57%] test/ardupilot_dds_tests/test_time_msg_received.py FF [ 85%] test/ardupilot_dds_tests/test_virtual_ports.py . [100%] =================================== FAILURES =================================== _______________________ test_dds_serial_navsat_msg_recv ________________________ test/ardupilot_dds_tests/test_navsat_msg_received.py:120: in test_dds_serial_navsat_msg_recv assert msgs_received_flag, "Did not receive 'ap/navsat/navsat0' msgs." E AssertionError: Did not receive 'ap/navsat/navsat0' msgs. E assert False ---------------------------- Captured stdout setup ----------------------------- [INFO] [launch]: All log files can be found below /home/pi/.ros/log/2023-12-28-10-09-26-166394-pi-Ubuntu-desktop-9210 [INFO] [launch]: Default logging verbosity is set to INFO command: socat tty0: /tmp/pytest-of-pi/pytest-3/devices0/dev/tty0 tty1: /tmp/pytest-of-pi/pytest-3/devices0/dev/tty1 namespace: transport: serial middleware: dds verbose: 4 discovery: 7400 baudrate: 115200 device: /tmp/pytest-of-pi/pytest-3/devices0/dev/tty0 refs: /home/pi/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/dds_xrce_profile.xml command: mavproxy.py master: tcp:127.0.0.1:5760 sitl: 127.0.0.1:5501 command: arducopter model: quad speedup: 10 slave: 0 sim_address: 127.0.0.1 instance: 0 defaults: /home/pi/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/pi/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_serial.parm synthetic_clock: True serial1: uart:/tmp/pytest-of-pi/pytest-3/devices0/dev/tty1 ----------------------------- Captured stdout call ----------------------------- [INFO] [tty1 -1]: process started with pid [9212] [INFO] [micro_ros_agent-2]: process started with pid [9214] [INFO] [mavproxy.py --out 127.0.0.1:14550 --out 127.0.0.1:14551 --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --non-interactive -3]: process started with pid [9217] [ERROR] [mavproxy.py --out 127.0.0.1:14550 --out 127.0.0.1:14551 --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --non-interactive -3]: process has died [pid 9217, exit code 127, cmd 'mavproxy.py --out 127.0.0.1:14550 --out 127.0.0.1:14551 --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --non-interactive ']. [INFO] [tty1 -4]: process started with pid [9219] [ERROR] [tty1 -4]: process has died [pid 9219, exit code 1, cmd 'arducopter --model quad --speedup 10 --slave 0 --sim-address=127.0.0.1 --instance 0 --defaults /home/pi/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/pi/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_serial.parm --synthetic-clock --serial1 uart:/tmp/pytest-of-pi/pytest-3/devices0/dev/tty1 ']. [tty1 -1] 2023/12/28 10:09:26 socat[9215] N PTY is /dev/pts/19 [tty1 -1] 2023/12/28 10:09:26 socat[9215] N PTY is /dev/pts/20 [tty1 -1] 2023/12/28 10:09:26 socat[9215] N starting data transfer loop with FDs [5,5] and [7,7] [mavproxy.py --out 127.0.0.1:14550 --out 127.0.0.1:14551 --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --non-interactive -3] /bin/sh: 1: mavproxy.py: not found [tty1 -4] Setting SIM_SPEEDUP=10.000000 [tty1 -4] Suggested EK3_DRAG_BCOEF_* = 16.288, EK3_DRAG_MCOEF = 0.209 [tty1 -4] Starting sketch 'ArduCopter' [tty1 -4] Starting SITL input [tty1 -4] Using Irlock at port : 9005 [tty1 -4] bind port 5760 for SERIAL0 [tty1 -4] bind failed on port 5760 - Address already in use [micro_ros_agent-2] [1703729366.297067] info | TermiosAgentLinux.cpp | init  | running... | fd: 3 [micro_ros_agent-2] [1703729366.300306] info | Root.cpp  | set_verbose_level  | logger setup | verbose_level: 4 --------------------------- Captured stdout teardown --------------------------- [INFO] [micro_ros_agent-2]: sending signal 'SIGINT' to process[micro_ros_agent-2] [INFO] [tty1 -1]: sending signal 'SIGINT' to process[tty1 -1] [ERROR] [micro_ros_agent-2]: process has died [pid 9214, exit code -2, cmd '/home/pi/ros2_ws/install/micro_ros_agent/lib/micro_ros_agent/micro_ros_agent serial --middleware dds --baudrate 115200 --dev /tmp/pytest-of-pi/pytest-3/devices0/dev/tty0 --refs /home/pi/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/dds_xrce_profile.xml --ros-args -r __node:=micro_ros_agent -r __ns:=/']. [ERROR] [tty1 -1]: process[tty1 -1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [INFO] [tty1 -1]: sending signal 'SIGTERM' to process[tty1 -1] [ERROR] [tty1 -1]: process has died [pid 9212, exit code -15, cmd 'socat -d -d pty,raw,echo=0,link=/tmp/pytest-of-pi/pytest-3/devices0/dev/tty0 pty,raw,echo=0,link=/tmp/pytest-of-pi/pytest-3/devices0/dev/tty1 ']. _________________________ test_dds_udp_navsat_msg_recv _________________________ test/ardupilot_dds_tests/test_navsat_msg_received.py:144: in test_dds_udp_navsat_msg_recv assert msgs_received_flag, "Did not receive 'ap/navsat/navsat0' msgs." E AssertionError: Did not receive 'ap/navsat/navsat0' msgs. E assert False ---------------------------- Captured stdout setup ----------------------------- [INFO] [launch]: All log files can be found below /home/pi/.ros/log/2023-12-28-10-09-26-166394-pi-Ubuntu-desktop-9210 [INFO] [launch]: Default logging verbosity is set to INFO namespace: transport: udp4 middleware: dds verbose: 4 discovery: 7400 port: 2019 refs: /home/pi/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/dds_xrce_profile.xml command: mavproxy.py master: tcp:127.0.0.1:5760 sitl: 127.0.0.1:5501 command: arducopter model: quad speedup: 10 slave: 0 sim_address: 127.0.0.1 instance: 0 defaults: /home/pi/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/pi/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm synthetic_clock: True ----------------------------- Captured stdout call ----------------------------- [INFO] [micro_ros_agent-5]: process started with pid [9239] [INFO] [mavproxy.py --out 127.0.0.1:14550 --out 127.0.0.1:14551 --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --non-interactive -6]: process started with pid [9241] [ERROR] [mavproxy.py --out 127.0.0.1:14550 --out 127.0.0.1:14551 --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --non-interactive -6]: process has died [pid 9241, exit code 127, cmd 'mavproxy.py --out 127.0.0.1:14550 --out 127.0.0.1:14551 --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --non-interactive ']. [INFO] [dds_udp.parm --synthetic-clock -7]: process started with pid [9243] [mavproxy.py --out 127.0.0.1:14550 --out 127.0.0.1:14551 --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --non-interactive -6] /bin/sh: 1: mavproxy.py: not found [ERROR] [dds_udp.parm --synthetic-clock -7]: process has died [pid 9243, exit code 1, cmd 'arducopter --model quad --speedup 10 --slave 0 --sim-address=127.0.0.1 --instance 0 --defaults /home/pi/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/pi/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm --synthetic-clock ']. [dds_udp.parm --synthetic-clock -7] Setting SIM_SPEEDUP=10.000000 [dds_udp.parm --synthetic-clock -7] Suggested EK3_DRAG_BCOEF_* = 16.288, EK3_DRAG_MCOEF = 0.209 [dds_udp.parm --synthetic-clock -7] Starting sketch 'ArduCopter' [dds_udp.parm --synthetic-clock -7] Starting SITL input [dds_udp.parm --synthetic-clock -7] Using Irlock at port : 9005 [dds_udp.parm --synthetic-clock -7] bind port 5760 for SERIAL0 [dds_udp.parm --synthetic-clock -7] bind failed on port 5760 - Address already in use [micro_ros_agent-5] [1703729381.963589] info | UDPv4AgentLinux.cpp | init  | running... | port: 2019 [micro_ros_agent-5] [1703729381.966784] info | Root.cpp  | set_verbose_level  | logger setup | verbose_level: 4 --------------------------- Captured stdout teardown --------------------------- [INFO] [micro_ros_agent-5]: sending signal 'SIGINT' to process[micro_ros_agent-5] [ERROR] [micro_ros_agent-5]: process has died [pid 9239, exit code -2, cmd '/home/pi/ros2_ws/install/micro_ros_agent/lib/micro_ros_agent/micro_ros_agent udp4 --middleware dds --port 2019 --refs /home/pi/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/dds_xrce_profile.xml --ros-args -r __node:=micro_ros_agent -r __ns:=/']. ________________________ test_dds_serial_time_msg_recv _________________________ test/ardupilot_dds_tests/test_time_msg_received.py:110: in test_dds_serial_time_msg_recv assert msgs_received_flag, "Did not receive 'ROS_Time' msgs." E AssertionError: Did not receive 'ROS_Time' msgs. E assert False ---------------------------- Captured stdout setup ----------------------------- [INFO] [launch]: All log files can be found below /home/pi/.ros/log/2023-12-28-10-09-26-166394-pi-Ubuntu-desktop-9210 [INFO] [launch]: Default logging verbosity is set to INFO command: socat tty0: /tmp/pytest-of-pi/pytest-3/devices1/dev/tty0 tty1: /tmp/pytest-of-pi/pytest-3/devices1/dev/tty1 namespace: transport: serial middleware: dds verbose: 4 discovery: 7400 baudrate: 115200 device: /tmp/pytest-of-pi/pytest-3/devices1/dev/tty0 refs: /home/pi/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/dds_xrce_profile.xml command: mavproxy.py master: tcp:127.0.0.1:5760 sitl: 127.0.0.1:5501 command: arducopter model: quad speedup: 10 slave: 0 sim_address: 127.0.0.1 instance: 0 defaults: /home/pi/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/pi/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_serial.parm synthetic_clock: True serial1: uart:/tmp/pytest-of-pi/pytest-3/devices1/dev/tty1 ----------------------------- Captured stdout call ----------------------------- [INFO] [tty1 -8]: process started with pid [9264] [INFO] [micro_ros_agent-9]: process started with pid [9266] [INFO] [mavproxy.py --out 127.0.0.1:14550 --out 127.0.0.1:14551 --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --non-interactive -10]: process started with pid [9269] [ERROR] [mavproxy.py --out 127.0.0.1:14550 --out 127.0.0.1:14551 --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --non-interactive -10]: process has died [pid 9269, exit code 127, cmd 'mavproxy.py --out 127.0.0.1:14550 --out 127.0.0.1:14551 --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --non-interactive ']. [INFO] [tty1 -11]: process started with pid [9271] [ERROR] [tty1 -11]: process has died [pid 9271, exit code 1, cmd 'arducopter --model quad --speedup 10 --slave 0 --sim-address=127.0.0.1 --instance 0 --defaults /home/pi/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/pi/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_serial.parm --synthetic-clock --serial1 uart:/tmp/pytest-of-pi/pytest-3/devices1/dev/tty1 ']. [tty1 -8] 2023/12/28 10:09:52 socat[9267] N PTY is /dev/pts/21 [tty1 -8] 2023/12/28 10:09:52 socat[9267] N PTY is /dev/pts/22 [tty1 -8] 2023/12/28 10:09:52 socat[9267] N starting data transfer loop with FDs [5,5] and [7,7] [mavproxy.py --out 127.0.0.1:14550 --out 127.0.0.1:14551 --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --non-interactive -10] /bin/sh: 1: mavproxy.py: not found [tty1 -11] Setting SIM_SPEEDUP=10.000000 [tty1 -11] Suggested EK3_DRAG_BCOEF_* = 16.288, EK3_DRAG_MCOEF = 0.209 [tty1 -11] Starting sketch 'ArduCopter' [tty1 -11] Starting SITL input [tty1 -11] Using Irlock at port : 9005 [tty1 -11] bind port 5760 for SERIAL0 [tty1 -11] bind failed on port 5760 - Address already in use [micro_ros_agent-9] [1703729392.234364] info | TermiosAgentLinux.cpp | init  | running... | fd: 3 [micro_ros_agent-9] [1703729392.237519] info | Root.cpp  | set_verbose_level  | logger setup | verbose_level: 4 --------------------------- Captured stdout teardown --------------------------- [INFO] [micro_ros_agent-9]: sending signal 'SIGINT' to process[micro_ros_agent-9] [INFO] [tty1 -8]: sending signal 'SIGINT' to process[tty1 -8] [ERROR] [micro_ros_agent-9]: process has died [pid 9266, exit code -2, cmd '/home/pi/ros2_ws/install/micro_ros_agent/lib/micro_ros_agent/micro_ros_agent serial --middleware dds --baudrate 115200 --dev /tmp/pytest-of-pi/pytest-3/devices1/dev/tty0 --refs /home/pi/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/dds_xrce_profile.xml --ros-args -r __node:=micro_ros_agent -r __ns:=/']. [ERROR] [tty1 -8]: process[tty1 -8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [INFO] [tty1 -8]: sending signal 'SIGTERM' to process[tty1 -8] [ERROR] [tty1 -8]: process has died [pid 9264, exit code -15, cmd 'socat -d -d pty,raw,echo=0,link=/tmp/pytest-of-pi/pytest-3/devices1/dev/tty0 pty,raw,echo=0,link=/tmp/pytest-of-pi/pytest-3/devices1/dev/tty1 ']. __________________________ test_dds_udp_time_msg_recv __________________________ test/ardupilot_dds_tests/test_time_msg_received.py:134: in test_dds_udp_time_msg_recv assert msgs_received_flag, "Did not receive 'ROS_Time' msgs." E AssertionError: Did not receive 'ROS_Time' msgs. E assert False ---------------------------- Captured stdout setup ----------------------------- [INFO] [launch]: All log files can be found below /home/pi/.ros/log/2023-12-28-10-09-26-166394-pi-Ubuntu-desktop-9210 [INFO] [launch]: Default logging verbosity is set to INFO namespace: transport: udp4 middleware: dds verbose: 4 discovery: 7400 port: 2019 refs: /home/pi/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/dds_xrce_profile.xml command: mavproxy.py master: tcp:127.0.0.1:5760 sitl: 127.0.0.1:5501 command: arducopter model: quad speedup: 10 slave: 0 sim_address: 127.0.0.1 instance: 0 defaults: /home/pi/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/pi/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm synthetic_clock: True ----------------------------- Captured stdout call ----------------------------- [INFO] [micro_ros_agent-12]: process started with pid [9291] [INFO] [mavproxy.py --out 127.0.0.1:14550 --out 127.0.0.1:14551 --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --non-interactive -13]: process started with pid [9293] [ERROR] [mavproxy.py --out 127.0.0.1:14550 --out 127.0.0.1:14551 --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --non-interactive -13]: process has died [pid 9293, exit code 127, cmd 'mavproxy.py --out 127.0.0.1:14550 --out 127.0.0.1:14551 --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --non-interactive ']. [INFO] [dds_udp.parm --synthetic-clock -14]: process started with pid [9295] [ERROR] [dds_udp.parm --synthetic-clock -14]: process has died [pid 9295, exit code 1, cmd 'arducopter --model quad --speedup 10 --slave 0 --sim-address=127.0.0.1 --instance 0 --defaults /home/pi/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/pi/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm --synthetic-clock ']. [mavproxy.py --out 127.0.0.1:14550 --out 127.0.0.1:14551 --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --non-interactive -13] /bin/sh: 1: mavproxy.py: not found [dds_udp.parm --synthetic-clock -14] Setting SIM_SPEEDUP=10.000000 [dds_udp.parm --synthetic-clock -14] Suggested EK3_DRAG_BCOEF_* = 16.288, EK3_DRAG_MCOEF = 0.209 [dds_udp.parm --synthetic-clock -14] Starting sketch 'ArduCopter' [dds_udp.parm --synthetic-clock -14] Starting SITL input [dds_udp.parm --synthetic-clock -14] Using Irlock at port : 9005 [dds_udp.parm --synthetic-clock -14] bind port 5760 for SERIAL0 [dds_udp.parm --synthetic-clock -14] bind failed on port 5760 - Address already in use [micro_ros_agent-12] [1703729407.443603] info | UDPv4AgentLinux.cpp | init  | running... | port: 2019 [micro_ros_agent-12] [1703729407.446900] info | Root.cpp  | set_verbose_level  | logger setup | verbose_level: 4 --------------------------- Captured stdout teardown --------------------------- [INFO] [micro_ros_agent-12]: sending signal 'SIGINT' to process[micro_ros_agent-12] [ERROR] [micro_ros_agent-12]: process has died [pid 9291, exit code -2, cmd '/home/pi/ros2_ws/install/micro_ros_agent/lib/micro_ros_agent/micro_ros_agent udp4 --middleware dds --port 2019 --refs /home/pi/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/dds_xrce_profile.xml --ros-args -r __node:=micro_ros_agent -r __ns:=/']. -- generated xml file: /home/pi/ros2_ws/build/ardupilot_dds_tests/pytest.xml --- =========================== short test summary info ============================ FAILED test/ardupilot_dds_tests/test_navsat_msg_received.py::test_dds_serial_navsat_msg_recv FAILED test/ardupilot_dds_tests/test_navsat_msg_received.py::test_dds_udp_navsat_msg_recv FAILED test/ardupilot_dds_tests/test_time_msg_received.py::test_dds_serial_time_msg_recv FAILED test/ardupilot_dds_tests/test_time_msg_received.py::test_dds_udp_time_msg_recv ========================= 4 failed, 3 passed in 59.44s =========================