restore non-cartesian field test

Author: adivardi

opennav_coverage/test/test_server.cpp

@@ -41,7 +41,7 @@ class ServerShim : public opennav_coverage::CoverageServer
   void configure(const rclcpp_lifecycle::State & state)
   {
     this->on_configure(state);
-    cartesian_frame_ = true;  // Test files in GPS
+    cartesian_frame_ = false;  // Test files in GPS
   }
   void activate(const rclcpp_lifecycle::State & state) {this->on_activate(state);}
   void deactivate(const rclcpp_lifecycle::State & state) {this->on_deactivate(state);}
@@ -98,7 +98,7 @@ TEST(ServerTest, testServerTransactions)
   auto goal_msg = opennav_coverage_msgs::action::ComputeCoveragePath::Goal();
   goal_msg.use_gml_file = true;  // Use file
   goal_msg.gml_field =
-    ament_index_cpp::get_package_share_directory("opennav_coverage") + "/cartesian_test_field.xml";
+    ament_index_cpp::get_package_share_directory("opennav_coverage") + "/test_field.xml";
 
   auto future_goal_handle = action_client->async_send_goal(goal_msg);
   EXPECT_EQ(

opennav_coverage/test/tester.py

@@ -125,7 +125,7 @@ def main():
     goal.generate_path = True
 
     goal.use_gml_file = True
-    goal.gml_field = get_package_share_directory('opennav_coverage') + '/cartesian_test_field.xml'
+    goal.gml_field = get_package_share_directory('opennav_coverage') + '/test_field.xml'
     goal.gml_field_id = 0
 
     # Cartesian coordinates corresponding to a similar XML as test_field.xml