Make launch_testing_ros examples more robust. (#394)

The original goal here was to expand the timeouts on
the launch_testing_ros examples so that they are more
robust.  I did that, and in most cases these tests now
wait at least 15 seconds for things to happen.

Along the way, I also somewhat rewrote some
of these tests so they properly clean up after themselves.

Signed-off-by: Chris Lalancette <[email protected]>

launch_testing_ros/test/examples/check_msgs_launch_test.py

@@ -27,7 +27,6 @@
 import launch_testing.markers
 import pytest
 import rclpy
-from rclpy.node import Node
 from std_msgs.msg import String
 
 
@@ -50,35 +49,39 @@ def generate_test_description():
 
 class TestFixture(unittest.TestCase):
 
-    def test_check_if_msgs_published(self, proc_output: ActiveIoHandler):
-        rclpy.init()
+    def subscription_callback(self, data: String):
+        self.msg_event_object.set()
+
+    def spin(self):
         try:
-            node = MakeTestNode('test_node')
-            node.start_subscriber()
-            msgs_received_flag = node.msg_event_object.wait(timeout=5.0)
-            assert msgs_received_flag, 'Did not receive msgs !'
+            while rclpy.ok() and not self.spinning.is_set():
+                rclpy.spin_once(self.node, timeout_sec=0.1)
         finally:
-            rclpy.shutdown()
-
-
-class MakeTestNode(Node):
+            return
 
-    def __init__(self, name: str = 'test_node'):
-        super().__init__(name)
+    def setUp(self):
+        rclpy.init()
+        self.node = rclpy.create_node('test_node')
+        self.spinning = Event()
         self.msg_event_object = Event()
-
-    def start_subscriber(self):
-        # Create a subscriber
-        self.subscription = self.create_subscription(
+        self.subscription = self.node.create_subscription(
             String,
             'chatter',
-            self.subscriber_callback,
+            self.subscription_callback,
             10
         )
 
         # Add a spin thread
-        self.ros_spin_thread = Thread(target=lambda node: rclpy.spin(node), args=(self,))
+        self.ros_spin_thread = Thread(target=self.spin)
         self.ros_spin_thread.start()
 
-    def subscriber_callback(self, data: String):
-        self.msg_event_object.set()
+    def tearDown(self):
+        self.spinning.set()
+        self.ros_spin_thread.join()
+        self.node.destroy_subscription(self.subscription)
+        self.node.destroy_node()
+        rclpy.shutdown()
+
+    def test_check_if_msgs_published(self, proc_output: ActiveIoHandler):
+        msgs_received_flag = self.msg_event_object.wait(timeout=15.0)
+        assert msgs_received_flag, 'Did not receive msgs !'

launch_testing_ros/test/examples/check_node_launch_test.py

@@ -25,7 +25,6 @@
 import launch_testing.markers
 import pytest
 import rclpy
-from rclpy.node import Node
 
 
 @pytest.mark.launch_test
@@ -50,26 +49,23 @@ def generate_test_description():
 
 class TestFixture(unittest.TestCase):
 
-    def test_node_start(self, proc_output: ActiveIoHandler):
+    def setUp(self):
         rclpy.init()
-        try:
-            node = MakeTestNode('test_node')
-            assert node.wait_for_node('demo_node_1', 8.0), 'Node not found !'
-        finally:
-            rclpy.shutdown()
-
-
-class MakeTestNode(Node):
+        self.node = rclpy.create_node('test_node')
 
-    def __init__(self, name: str = 'test_node'):
-        super().__init__(name)
+    def tearDown(self):
+        self.node.destroy_node()
+        rclpy.shutdown()
 
-    def wait_for_node(self, node_name: str, timeout: float = 8.0):
-        start = time.time()
-        flag = False
+    def test_node_start(self, proc_output: ActiveIoHandler):
+        found = False
         print('Waiting for node...')
-        while time.time() - start < timeout and not flag:
-            flag = node_name in self.get_node_names()
+        # demo_node_1 won't start for at least 5 seconds after this test
+        # is launched, so we wait for a total of up to 20 seconds for it
+        # to appear.
+        start = time.time()
+        while time.time() - start < 20.0 and not found:
+            found = 'demo_node_1' in self.node.get_node_names()
             time.sleep(0.1)
 
-        return flag
+        assert found, 'Node not found!'

launch_testing_ros/test/examples/set_param_launch_test.py

@@ -25,7 +25,6 @@
 import pytest
 from rcl_interfaces.srv import SetParameters
 import rclpy
-from rclpy.node import Node
 
 
 @pytest.mark.launch_test
@@ -46,35 +45,30 @@ def generate_test_description():
 
 class TestFixture(unittest.TestCase):
 
-    def test_set_parameter(self, proc_output: ActiveIoHandler):
+    def setUp(self):
         rclpy.init()
-        try:
-            node = MakeTestNode('test_node')
-            response = node.set_parameter(state=True)
-            assert response.successful, 'Could not set parameter!'
-        finally:
-            rclpy.shutdown()
-
+        self.node = rclpy.create_node('test_node')
 
-class MakeTestNode(Node):
+    def tearDown(self):
+        self.node.destroy_node()
+        rclpy.shutdown()
 
-    def __init__(self, name: str = 'test_node'):
-        super().__init__(name)
-
-    def set_parameter(self, state: bool = True, timeout: float = 5.0):
-        parameters = [rclpy.Parameter('demo_parameter_1', value=state).to_parameter_msg()]
+    def test_set_parameter(self, proc_output: ActiveIoHandler):
+        parameters = [rclpy.Parameter('demo_parameter_1', value=True).to_parameter_msg()]
 
-        client = self.create_client(SetParameters, 'demo_node_1/set_parameters')
-        ready = client.wait_for_service(timeout_sec=timeout)
-        if not ready:
-            raise RuntimeError('Wait for service timed out')
+        client = self.node.create_client(SetParameters, 'demo_node_1/set_parameters')
+        try:
+            ready = client.wait_for_service(timeout_sec=15.0)
+            if not ready:
+                raise RuntimeError('Wait for service timed out')
 
-        request = SetParameters.Request()
-        request.parameters = parameters
-        future = client.call_async(request)
-        rclpy.spin_until_future_complete(self, future, timeout_sec=timeout)
+            request = SetParameters.Request()
+            request.parameters = parameters
+            future = client.call_async(request)
+            rclpy.spin_until_future_complete(self.node, future, timeout_sec=15.0)
 
-        assert future.done(), 'Client request timed out'
+            assert future.done(), 'Client request timed out'
 
-        response = future.result()
-        return response.results[0]
+            assert future.result().results[0].successful, 'Could not set parameter!'
+        finally:
+            self.node.destroy_client(client)

launch_testing_ros/test/examples/talker_listener_launch_test.py

@@ -140,7 +140,7 @@ def test_listener_receives(self,
                 success = proc_output.waitFor(
                     expected_output=msg.data,
                     process=listener,
-                    timeout=1.0,
+                    timeout=15.0,
                 )
                 if success:
                     break

launch_testing_ros/test/examples/wait_for_topic_launch_test.py

@@ -64,7 +64,7 @@ def test_topics_successful(self, count: int):
 
             # Method 1 : Using the magic methods and 'with' keyword
             with WaitForTopics(
-                topic_list, timeout=10.0, messages_received_buffer_length=10
+                topic_list, timeout=15.0, messages_received_buffer_length=10
             ) as wait_for_node_object_1:
                 assert wait_for_node_object_1.topics_received() == expected_topics
                 assert wait_for_node_object_1.topics_not_received() == set()
@@ -76,7 +76,7 @@ def test_topics_successful(self, count: int):
             # Multiple instances of WaitForNode() can be created safely as
             # their internal nodes spin in separate contexts
             # Method 2 : Manually calling wait() and shutdown()
-            wait_for_node_object_2 = WaitForTopics(topic_list, timeout=10.0)
+            wait_for_node_object_2 = WaitForTopics(topic_list, timeout=15.0)
             assert wait_for_node_object_2.wait()
             assert wait_for_node_object_2.topics_received() == expected_topics
             assert wait_for_node_object_2.topics_not_received() == set()