Fix CI regression

[mini-1235]

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Description of contribution in a few bullet points

Description of documentation updates required from your changes

Description of how this change was tested

---

Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
• Should this be backported to current distributions? If so, tag with backport-*.

[mini-1235]

This should fix test_keepout_filter, test_speed_filter_global, and test_speed_filter_local, which are failing in every test after rolling latest update.

Also, these code aren't used now

navigation2/nav2_simple_commander/nav2_simple_commander/utils.py

Lines 27 to 59 in 9ed832e

	def find_os_processes(name: str) -> list[tuple[str, str]]:
	"""Find all the processes that are running gz sim."""
	ps_output = subprocess.check_output(['ps', 'aux'], text=True)
	ps_lines = ps_output.split('\n')
	gz_sim_processes = []
	for line in ps_lines:
	if name in line:
	columns = line.split()
	pid = columns[1]
	command = ' '.join(columns[10:])
	if command.startswith(name):
	gz_sim_processes.append((pid, command))
	return gz_sim_processes
	def kill_process(pid: str) -> None:
	"""Kill a process with a given PID."""
	try:
	os.kill(int(pid), signal.SIGKILL)
	print(f'Successfully killed process with PID: {pid}')
	except Exception as e:
	print(f'Failed to kill process with PID: {pid}. Error: {e}')
	def kill_os_processes(name: str) -> None:
	"""Kill all processes that are running with name."""
	processes = find_os_processes(name)
	if processes:
	for pid, _ in processes:
	kill_process(pid)
	else:
	print(f'No processes found starting with {name}')

should I keep it?

[SteveMacenski]

should I keep it?

I think its still useful 😉

Why was this causing an issue? I should have looked into this more, these have been historically flaky tests so I didn't think to look into it more than retriggering CI (yet)

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
see 7 files with indirect coverage changes

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

[mini-1235]

See https://app.circleci.com/pipelines/github/ros-navigation/navigation2/16271/workflows/d907caaa-ba46-4950-be7d-d807a7907f61/jobs/47564/tests for example

It reports

[planner_server-13] [WARN] [1759272112.398568005] [planner_server]: GridBasedplugin failed to plan from (-2.00, -0.50) to (0.00, -0.50): "Failed to create plan with tolerance of: 0.500000"

When I run these failing tests alone, they always pass. However, when running the entire package, these three tests consistently fail. I looked at the logs, and noticed that at the end of the wait test:

[ERROR] [gazebo-1]: process[gazebo-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [gazebo-1]: sending signal 'SIGTERM' to process[gazebo-1]
[ERROR] [gazebo-1]: process has died [pid 981176, exit code -15, cmd 'ruby /opt/ros/rolling/opt/gz_tools_vendor/bin/gz sim -r -s /root/nav2_ws/install/nav2_minimal_tb3_sim/share/nav2_minimal_tb3_sim/worlds/tb3_sandbox.sdf.xacro --force-version 10'].
No processes found starting with gz sim

I believe the failure is due to the wait test not fully cleaning up gazebo resources when it ends, possibly related to the latest Gazebo update I think, although I haven’t dug into it further yet

[SteveMacenski]

I see, that would make sense