Add hangar_sim objectives integration test

.github/workflows/ci.yaml

@@ -150,8 +150,8 @@ jobs:
       fail-fast: false
       matrix:
         # Stream 2 expands this list one PR at a time as each sim gains a
-        # pytest entry. Today only lab_sim has one.
-        config_package: [lab_sim]
+        # pytest entry.
+        config_package: [lab_sim, hangar_sim]
     permissions:
       # contents: read for checkout; id-token: write so the reusable workflow
       # can assume the LFS S3 cache IAM role via OIDC (moveit_pro_ci v0.5.x).
@@ -306,7 +306,13 @@ jobs:
         # Keep in sync with `integration-test.matrix.config_package` above and
         # with the reusable workflow's internal ros_distro matrix. Stream 2
         # expands `config_package` per sim; this matrix expands alongside.
-        config_package: [lab_sim]
+        # NOTE: the publish-and-comment job below is still pinned to lab_sim
+        # (see the `integration-test-report-lab_sim-*` downloads), so reports
+        # for other sims are produced as artifacts here but not yet surfaced in
+        # the PR comment. Merge gating is unaffected — the aggregate
+        # `example_ws / integration` status covers every config_package. The
+        # follow-up templates publish-and-comment over config_package.
+        config_package: [lab_sim, hangar_sim]
         ros_distro: [humble, jazzy]
     steps:
       - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd # v6.0.2

src/hangar_sim/CMakeLists.txt

@@ -32,8 +32,19 @@ install(IMPORTED_RUNTIME_ARTIFACTS moveit_studio_plugins::dummy_controller_handl
         lib)
 
 if(BUILD_TESTING)
+  find_package(ament_cmake_pytest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
+  # Redirect ROS node logs into the test_results tree so the test-results CI
+  # artifact ships them back too. Default would be ~/.ros/log/, which lives
+  # on the doomed container filesystem and never gets uploaded -- making
+  # post-mortem of objective failures impossible.
+  ament_add_pytest_test(
+          objectives_integration_test test/objectives_integration_test.py
+          TIMEOUT 600
+          ENV MOVEIT_CONFIG_PACKAGE=hangar_sim
+              MOVEIT_HOST_USER_WORKSPACE=${CMAKE_SOURCE_DIR}
+              ROS_LOG_DIR=${CMAKE_CURRENT_BINARY_DIR}/test_results/${PROJECT_NAME}/ros_logs)
 endif()
 
 ament_package()

src/hangar_sim/package.xml

@@ -26,6 +26,9 @@
   <exec_depend>picknik_ur_base_config</exec_depend>
   <exec_depend>realsense2_camera</exec_depend>
   <exec_depend>realsense2_description</exec_depend>
+  <exec_depend>ridgeback_description</exec_depend>
+  <exec_depend>robotiq_description</exec_depend>
+  <exec_depend>clearpath_mecanum_drive_controller</exec_depend>
   <exec_depend>slam_toolbox</exec_depend>
   <exec_depend>ur_description</exec_depend>
   <exec_depend>velocity_force_controller</exec_depend>
@@ -39,6 +42,9 @@
   <test_depend>ament_cmake_lint_cmake</test_depend>
   <test_depend>picknik_ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
+  <test_depend>rclpy</test_depend>
+  <test_depend>rcl_interfaces</test_depend>
+  <test_depend>control_msgs</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

src/hangar_sim/test/capture_rosout.py

@@ -0,0 +1,116 @@
+# Copyright 2026 PickNik Inc.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the PickNik Inc. nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""Standalone /rosout → NDJSON capture, invoked as a subprocess from
+the sibling conftest.py.
+
+Runs in its own process so no rclpy state lives in the pytest process. The
+integration test's ``execute_objective_resource`` fixture (in
+moveit_pro_test_utils/objective_test_fixture.py) launches the backend via
+``multiprocessing.Process(target=run_launch_files).start()`` — on Linux that
+forks pytest. If pytest has called ``rclpy.init()`` at fork time, the child
+inherits the DDS participant's FDs but not its spinner thread, leaving DDS
+discovery half-initialized; /robot_description then never reaches
+move_group / objective_server_node and BehaviorContext SIGABRTs on boot.
+
+Subscribes to /rosout with the same QoS the rcl logging publisher uses
+(depth=1000, RELIABLE, TRANSIENT_LOCAL, KEEP_LAST). Writes one JSON object
+per line to ``$ROS_LOG_DIR/rosout.ndjson`` (fallback: current dir).
+"""
+
+import json
+import os
+import sys
+import threading
+from pathlib import Path
+
+import rclpy
+from rcl_interfaces.msg import Log
+from rclpy.qos import DurabilityPolicy, HistoryPolicy, QoSProfile, ReliabilityPolicy
+
+# Log message severity byte → ROS log level name. Use literal ints rather
+# than `Log.DEBUG` etc. — the message constants are numpy uint8 in some
+# rclpy builds, which hash differently from Python int and miss the dict
+# lookup, leaving levels in the NDJSON as bare numbers like "30".
+_LEVEL_NAMES = {10: "DEBUG", 20: "INFO", 30: "WARN", 40: "ERROR", 50: "FATAL"}
+
+# Match the /rosout publisher's QoS exactly so a late-joining subscriber gets
+# replayed history (TRANSIENT_LOCAL) up to the publisher's depth. ROS 2's rcl
+# logging handler publishes /rosout with depth=1000 / RELIABLE /
+# TRANSIENT_LOCAL / KEEP_LAST. If the subscriber is VOLATILE, no historical
+# replay happens even if the publisher stores history — both ends must opt in.
+_ROSOUT_QOS = QoSProfile(
+    depth=1000,
+    history=HistoryPolicy.KEEP_LAST,
+    reliability=ReliabilityPolicy.RELIABLE,
+    durability=DurabilityPolicy.TRANSIENT_LOCAL,
+)
+
+
+def main() -> int:
+    out_dir = Path(os.environ.get("ROS_LOG_DIR", "."))
+    out_dir.mkdir(parents=True, exist_ok=True)
+    out_path = out_dir / "rosout.ndjson"
+
+    write_lock = threading.Lock()
+
+    rclpy.init()
+    node = rclpy.create_node("test_rosout_capture")
+
+    with open(out_path, "w", encoding="utf-8") as out_file:
+
+        def on_log(msg: Log) -> None:
+            ts = msg.stamp.sec + msg.stamp.nanosec / 1e9
+            entry = {
+                "ts": ts,
+                "level": _LEVEL_NAMES.get(msg.level, str(msg.level)),
+                "node": msg.name,
+                "msg": msg.msg,
+            }
+            with write_lock:
+                out_file.write(json.dumps(entry, ensure_ascii=False) + "\n")
+                out_file.flush()  # don't lose the last lines on a crash
+
+        node.create_subscription(Log, "/rosout", on_log, _ROSOUT_QOS)
+
+        # rclpy.spin returns when SIGINT triggers rclpy.shutdown(); some
+        # rclpy versions surface that as KeyboardInterrupt instead.
+        try:
+            rclpy.spin(node)
+        except KeyboardInterrupt:
+            pass
+        finally:
+            node.destroy_node()
+            if rclpy.ok():
+                rclpy.shutdown()
+
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())

src/hangar_sim/test/conftest.py

@@ -0,0 +1,112 @@
+# Copyright 2026 PickNik Inc.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the PickNik Inc. nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""Live per-objective progress + structured /rosout capture for the
+objectives integration test.
+
+Pytest's default ``--capture=fd`` redirects fds 1 and 2, so when CTest kills
+the test on timeout (TIMEOUT 600 in CMakeLists.txt) all per-test output is
+lost and the CI log shows nothing past pytest's "collected N items" header.
+
+The runtest hooks write directly to fd 2, bypassing the capture, so the CI
+log always shows which objective was running when the timeout fired and how
+long each completed objective took.
+
+The ``capture_rosout`` fixture launches ``capture_rosout.py`` as a
+subprocess so no rclpy state lives in the pytest process. The integration
+test's ``execute_objective_resource`` fixture (in
+moveit_pro_test_utils/objective_test_fixture.py) starts the backend via
+``multiprocessing.Process(target=run_launch_files).start()`` — on Linux
+that forks pytest. Any rclpy.init() called in pytest beforehand leaves the
+forked child with a half-initialized DDS participant (FDs inherited, the
+spinner thread does not survive fork), which breaks /robot_description
+discovery and causes BehaviorContext to SIGABRT on backend boot.
+"""
+
+import os
+import signal
+import subprocess
+import sys
+import time
+from pathlib import Path
+
+import pytest
+
+_started_at: dict[str, float] = {}
+
+
+def pytest_runtest_logstart(nodeid, location):
+    _started_at[nodeid] = time.monotonic()
+    os.write(2, f"  START   {nodeid}\n".encode())
+
+
+def pytest_runtest_logreport(report):
+    if report.when != "call":
+        return
+    nodeid = report.nodeid
+    start = _started_at.get(nodeid)
+    elapsed_str = f"{time.monotonic() - start:.1f}s" if start is not None else "n/a"
+    outcome = report.outcome.upper()  # PASSED / FAILED / SKIPPED
+    line = f"  {outcome:7s} {nodeid} ({elapsed_str})"
+    if report.failed and report.longrepr:
+        reason = str(report.longrepr).splitlines()[-1][:200]
+        line += f"\n    └─ {reason}"
+    os.write(2, (line + "\n").encode())
+
+
+@pytest.fixture(scope="session", autouse=True)
+def capture_rosout():
+    """Run capture_rosout.py as a subprocess to mirror /rosout to NDJSON.
+
+    Subprocess isolation is mandatory — see the module docstring for the
+    fork/DDS interaction that requires it. The subprocess has its own
+    process image, so any rclpy / DDS state it sets up never reaches the
+    pytest process that later gets forked by execute_objective_resource.
+
+    Creates ``$ROS_LOG_DIR`` synchronously here so the directory exists
+    before backend nodes (also writing into it) start, and so the
+    subprocess's first ``mkdir(exist_ok=True)`` has nothing to race on.
+    """
+    out_dir = Path(os.environ.get("ROS_LOG_DIR", "."))
+    out_dir.mkdir(parents=True, exist_ok=True)
+
+    script = Path(__file__).parent / "capture_rosout.py"
+    proc = subprocess.Popen([sys.executable, str(script)])
+
+    try:
+        yield
+    finally:
+        # SIGINT triggers rclpy's default shutdown handler in the
+        # subprocess, which lets the script flush the NDJSON file before
+        # exiting. SIGKILL fallback in case the script wedges.
+        proc.send_signal(signal.SIGINT)
+        try:
+            proc.wait(timeout=10)
+        except subprocess.TimeoutExpired:
+            proc.kill()
+            proc.wait(timeout=5)