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make ROS 2 smoke tests less flaky #260

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Aug 16, 2023
Merged

make ROS 2 smoke tests less flaky #260

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36 changes: 24 additions & 12 deletions ros2_foxglove_bridge/tests/smoke_test.cpp
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Expand Up @@ -166,6 +166,7 @@ TEST(SmokeTest, testSubscription) {

auto node = rclcpp::Node::make_shared("tester");
rclcpp::QoS qos = rclcpp::QoS{rclcpp::KeepLast(1lu)};
qos.reliable();
qos.transient_local();
auto pub = node->create_publisher<std_msgs::msg::String>(topic_name, qos);
pub->publish(rosMsg);
Expand Down Expand Up @@ -202,6 +203,7 @@ TEST(SmokeTest, testSubscriptionParallel) {

auto node = rclcpp::Node::make_shared("tester");
rclcpp::QoS qos = rclcpp::QoS{rclcpp::KeepLast(1lu)};
qos.reliable();
qos.transient_local();
auto pub = node->create_publisher<std_msgs::msg::String>(topic_name, qos);
pub->publish(rosMsg);
Expand Down Expand Up @@ -258,12 +260,17 @@ TEST(SmokeTest, testPublishing) {
executor.add_node(node);

// Set up the client, advertise and publish the binary message
foxglove::Client<websocketpp::config::asio_client> wsClient;
ASSERT_EQ(std::future_status::ready, wsClient.connect(URI).wait_for(DEFAULT_TIMEOUT));
wsClient.advertise({advertisement});
std::this_thread::sleep_for(ONE_SECOND);
wsClient.publish(advertisement.channelId, HELLO_WORLD_BINARY, sizeof(HELLO_WORLD_BINARY));
wsClient.unadvertise({advertisement.channelId});
auto client = std::make_shared<foxglove::Client<websocketpp::config::asio_client>>();
ASSERT_EQ(std::future_status::ready, client->connect(URI).wait_for(ONE_SECOND));
client->advertise({advertisement});

// Wait until the advertisement got advertised as channel by the server
auto channelFuture = foxglove::waitForChannel(client, advertisement.topic);
ASSERT_EQ(std::future_status::ready, channelFuture.wait_for(ONE_SECOND));

// Publish the message and unadvertise again
client->publish(advertisement.channelId, HELLO_WORLD_BINARY, sizeof(HELLO_WORLD_BINARY));
client->unadvertise({advertisement.channelId});

// Ensure that we have received the correct message via our ROS subscriber
const auto ret = executor.spin_until_future_complete(msgFuture, ONE_SECOND);
Expand All @@ -290,12 +297,17 @@ TEST_F(ExistingPublisherTest, testPublishingWithExistingPublisher) {
executor.add_node(node);

// Set up the client, advertise and publish the binary message
foxglove::Client<websocketpp::config::asio_client> wsClient;
ASSERT_EQ(std::future_status::ready, wsClient.connect(URI).wait_for(DEFAULT_TIMEOUT));
wsClient.advertise({advertisement});
std::this_thread::sleep_for(ONE_SECOND);
wsClient.publish(advertisement.channelId, HELLO_WORLD_BINARY, sizeof(HELLO_WORLD_BINARY));
wsClient.unadvertise({advertisement.channelId});
auto client = std::make_shared<foxglove::Client<websocketpp::config::asio_client>>();
ASSERT_EQ(std::future_status::ready, client->connect(URI).wait_for(ONE_SECOND));
client->advertise({advertisement});

// Wait until the advertisement got advertised as channel by the server
auto channelFuture = foxglove::waitForChannel(client, advertisement.topic);
ASSERT_EQ(std::future_status::ready, channelFuture.wait_for(ONE_SECOND));

// Publish the message and unadvertise again
client->publish(advertisement.channelId, HELLO_WORLD_BINARY, sizeof(HELLO_WORLD_BINARY));
client->unadvertise({advertisement.channelId});

// Ensure that we have received the correct message via our ROS subscriber
const auto ret = executor.spin_until_future_complete(msgFuture, ONE_SECOND);
Expand Down