Replace deprecated rclcpp::spin_some() #541
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… with a SingleThreadedExecutor in pid_ros_parameters_tests.cpp. Aligns the test with current rclcpp API.
…cutor in SetBadParametersTest.
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Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
## master #541 +/- ##
==========================================
+ Coverage 83.01% 83.13% +0.12%
==========================================
Files 29 29
Lines 1967 1981 +14
Branches 110 110
==========================================
+ Hits 1633 1647 +14
Misses 268 268
Partials 66 66
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bmagyar
previously approved these changes
Nov 2, 2025
saikishor
previously approved these changes
Nov 2, 2025
christophfroehlich
requested changes
Nov 2, 2025
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Thanks for starting this. However, there are 8 more ocurrences of rclcpp::spin_some in pid_ros_publisher_tests, have a look at the build logs here:
2025-11-02T03:11:53.1740173Z �[1m$ ( source /home/runner/work/control_toolbox/control_toolbox/.work/upstream_ws/install/setup.bash && cd /home/runner/work/control_toolbox/control_toolbox/.work/target_ws && colcon build --event-handlers desktop_notification- status- terminal_title- --cmake-args -DCMAKE_CXX_FLAGS=-isystem /opt/ros/rolling/include; )�[0m
2025-11-02T03:11:53.1742357Z Starting >>> control_toolbox
2025-11-02T03:11:53.1742781Z --- stderr: control_toolbox
2025-11-02T03:11:53.1745149Z �[01m�[K/home/runner/work/control_toolbox/control_toolbox/.work/target_ws/src/control_toolbox/control_toolbox/test/pid_ros_publisher_tests.cpp:�[m�[K In member function ‘�[01m�[Kvirtual void PidPublisherTest_PublishTest_Test::�[01;32m�[KTestBody�[m�[K()�[m�[K’:
2025-11-02T03:11:53.1749923Z �[01m�[K/home/runner/work/control_toolbox/control_toolbox/.work/target_ws/src/control_toolbox/control_toolbox/test/pid_ros_publisher_tests.cpp:69:22:�[m�[K �[01;35m�[Kwarning: �[m�[K‘�[01m�[Kvoid rclcpp::�[01;32m�[Kspin_some�[m�[K(Node::SharedPtr)�[m�[K’ is deprecated: use SingleThreadedExecutor::spin_some instead [�[01;35m�[K-Wdeprecated-declarations�[m�[K]
2025-11-02T03:11:53.1752326Z 69 | �[01;35m�[Krclcpp::spin_some(node)�[m�[K;
2025-11-02T03:11:53.1752945Z | �[01;35m�[K~~~~~~~~~~~~~~~~~^~~~~~�[m�[K
2025-11-02T03:11:53.1754775Z In file included from �[01m�[K/home/runner/work/control_toolbox/control_toolbox/.work/target_ws/src/control_toolbox/control_toolbox/test/pid_ros_publisher_tests.cpp:25�[m�[K:
2025-11-02T03:11:53.1756708Z �[01m�[K/opt/ros/rolling/include/rclcpp/rclcpp/executors.hpp:109:1:�[m�[K �[01;36m�[Knote: �[m�[Kdeclared here
2025-11-02T03:11:53.1758176Z 109 | �[01;36m�[Kspin_some�[m�[K(rclcpp::Node::SharedPtr node_ptr);
2025-11-02T03:11:53.1758844Z | �[01;36m�[K^~~~~~~~~�[m�[K
2025-11-02T03:11:53.1761274Z �[01m�[K/home/runner/work/control_toolbox/control_toolbox/.work/target_ws/src/control_toolbox/control_toolbox/test/pid_ros_publisher_tests.cpp:�[m�[K In member function ‘�[01m�[Kvirtual void PidPublisherTest_PublishTest_start_deactivated_Test::�[01;32m�[KTestBody�[m�[K()�[m�[K’:
2025-11-02T03:11:53.1765517Z �[01m�[K/home/runner/work/control_toolbox/control_toolbox/.work/target_ws/src/control_toolbox/control_toolbox/test/pid_ros_publisher_tests.cpp:113:22:�[m�[K �[01;35m�[Kwarning: �[m�[K‘�[01m�[Kvoid rclcpp::�[01;32m�[Kspin_some�[m�[K(Node::SharedPtr)�[m�[K’ is deprecated: use SingleThreadedExecutor::spin_some instead [�[01;35m�[K-Wdeprecated-declarations�[m�[K]
2025-11-02T03:11:53.1768208Z 113 | �[01;35m�[Krclcpp::spin_some(node)�[m�[K;
2025-11-02T03:11:53.1769122Z | �[01;35m�[K~~~~~~~~~~~~~~~~~^~~~~~�[m�[K
2025-11-02T03:11:53.1770260Z �[01m�[K/opt/ros/rolling/include/rclcpp/rclcpp/executors.hpp:109:1:�[m�[K �[01;36m�[Knote: �[m�[Kdeclared here
2025-11-02T03:11:53.1771502Z 109 | �[01;36m�[Kspin_some�[m�[K(rclcpp::Node::SharedPtr node_ptr);
2025-11-02T03:11:53.1772176Z | �[01;36m�[K^~~~~~~~~�[m�[K
2025-11-02T03:11:53.1774937Z �[01m�[K/home/runner/work/control_toolbox/control_toolbox/.work/target_ws/src/control_toolbox/control_toolbox/test/pid_ros_publisher_tests.cpp:129:22:�[m�[K �[01;35m�[Kwarning: �[m�[K‘�[01m�[Kvoid rclcpp::�[01;32m�[Kspin_some�[m�[K(Node::SharedPtr)�[m�[K’ is deprecated: use SingleThreadedExecutor::spin_some instead [�[01;35m�[K-Wdeprecated-declarations�[m�[K]
2025-11-02T03:11:53.1777745Z 129 | �[01;35m�[Krclcpp::spin_some(node)�[m�[K;
2025-11-02T03:11:53.1778346Z | �[01;35m�[K~~~~~~~~~~~~~~~~~^~~~~~�[m�[K
2025-11-02T03:11:53.1779437Z �[01m�[K/opt/ros/rolling/include/rclcpp/rclcpp/executors.hpp:109:1:�[m�[K �[01;36m�[Knote: �[m�[Kdeclared here
2025-11-02T03:11:53.1780665Z 109 | �[01;36m�[Kspin_some�[m�[K(rclcpp::Node::SharedPtr node_ptr);
2025-11-02T03:11:53.1781330Z | �[01;36m�[K^~~~~~~~~�[m�[K
2025-11-02T03:11:53.1784083Z �[01m�[K/home/runner/work/control_toolbox/control_toolbox/.work/target_ws/src/control_toolbox/control_toolbox/test/pid_ros_publisher_tests.cpp:138:20:�[m�[K �[01;35m�[Kwarning: �[m�[K‘�[01m�[Kvoid rclcpp::�[01;32m�[Kspin_some�[m�[K(Node::SharedPtr)�[m�[K’ is deprecated: use SingleThreadedExecutor::spin_some instead [�[01;35m�[K-Wdeprecated-declarations�[m�[K]
2025-11-02T03:11:53.1787102Z 138 | �[01;35m�[Krclcpp::spin_some(node)�[m�[K; // process callbacks to ensure that no further messages are received
2025-11-02T03:11:53.1788089Z | �[01;35m�[K~~~~~~~~~~~~~~~~~^~~~~~�[m�[K
2025-11-02T03:11:53.1789170Z �[01m�[K/opt/ros/rolling/include/rclcpp/rclcpp/executors.hpp:109:1:�[m�[K �[01;36m�[Knote: �[m�[Kdeclared here
2025-11-02T03:11:53.1790415Z 109 | �[01;36m�[Kspin_some�[m�[K(rclcpp::Node::SharedPtr node_ptr);
2025-11-02T03:11:53.1791072Z | �[01;36m�[K^~~~~~~~~�[m�[K
2025-11-02T03:11:53.1793836Z �[01m�[K/home/runner/work/control_toolbox/control_toolbox/.work/target_ws/src/control_toolbox/control_toolbox/test/pid_ros_publisher_tests.cpp:146:22:�[m�[K �[01;35m�[Kwarning: �[m�[K‘�[01m�[Kvoid rclcpp::�[01;32m�[Kspin_some�[m�[K(Node::SharedPtr)�[m�[K’ is deprecated: use SingleThreadedExecutor::spin_some instead [�[01;35m�[K-Wdeprecated-declarations�[m�[K]
2025-11-02T03:11:53.1796246Z 146 | �[01;35m�[Krclcpp::spin_some(node)�[m�[K;
2025-11-02T03:11:53.1796886Z | �[01;35m�[K~~~~~~~~~~~~~~~~~^~~~~~�[m�[K
2025-11-02T03:11:53.1798258Z �[01m�[K/opt/ros/rolling/include/rclcpp/rclcpp/executors.hpp:109:1:�[m�[K �[01;36m�[Knote: �[m�[Kdeclared here
2025-11-02T03:11:53.1799775Z 109 | �[01;36m�[Kspin_some�[m�[K(rclcpp::Node::SharedPtr node_ptr);
2025-11-02T03:11:53.1800412Z | �[01;36m�[K^~~~~~~~~�[m�[K
2025-11-02T03:11:53.1802715Z �[01m�[K/home/runner/work/control_toolbox/control_toolbox/.work/target_ws/src/control_toolbox/control_toolbox/test/pid_ros_publisher_tests.cpp:�[m�[K In member function ‘�[01m�[Kvirtual void PidPublisherTest_PublishTest_prefix_Test::�[01;32m�[KTestBody�[m�[K()�[m�[K’:
2025-11-02T03:11:53.1806895Z �[01m�[K/home/runner/work/control_toolbox/control_toolbox/.work/target_ws/src/control_toolbox/control_toolbox/test/pid_ros_publisher_tests.cpp:189:22:�[m�[K �[01;35m�[Kwarning: �[m�[K‘�[01m�[Kvoid rclcpp::�[01;32m�[Kspin_some�[m�[K(Node::SharedPtr)�[m�[K’ is deprecated: use SingleThreadedExecutor::spin_some instead [�[01;35m�[K-Wdeprecated-declarations�[m�[K]
2025-11-02T03:11:53.1809531Z 189 | �[01;35m�[Krclcpp::spin_some(node)�[m�[K;
2025-11-02T03:11:53.1810170Z | �[01;35m�[K~~~~~~~~~~~~~~~~~^~~~~~�[m�[K
2025-11-02T03:11:53.1811250Z �[01m�[K/opt/ros/rolling/include/rclcpp/rclcpp/executors.hpp:109:1:�[m�[K �[01;36m�[Knote: �[m�[Kdeclared here
2025-11-02T03:11:53.1812392Z 109 | �[01;36m�[Kspin_some�[m�[K(rclcpp::Node::SharedPtr node_ptr);
2025-11-02T03:11:53.1813182Z | �[01;36m�[K^~~~~~~~~�[m�[K
2025-11-02T03:11:53.1815186Z �[01m�[K/home/runner/work/control_toolbox/control_toolbox/.work/target_ws/src/control_toolbox/control_toolbox/test/pid_ros_publisher_tests.cpp:�[m�[K In member function ‘�[01m�[Kvirtual void PidPublisherTest_PublishTest_local_prefix_Test::�[01;32m�[KTestBody�[m�[K()�[m�[K’:
2025-11-02T03:11:53.1818887Z �[01m�[K/home/runner/work/control_toolbox/control_toolbox/.work/target_ws/src/control_toolbox/control_toolbox/test/pid_ros_publisher_tests.cpp:233:22:�[m�[K �[01;35m�[Kwarning: �[m�[K‘�[01m�[Kvoid rclcpp::�[01;32m�[Kspin_some�[m�[K(Node::SharedPtr)�[m�[K’ is deprecated: use SingleThreadedExecutor::spin_some instead [�[01;35m�[K-Wdeprecated-declarations�[m�[K]
2025-11-02T03:11:53.1820883Z 233 | �[01;35m�[Krclcpp::spin_some(node)�[m�[K;
2025-11-02T03:11:53.1821367Z | �[01;35m�[K~~~~~~~~~~~~~~~~~^~~~~~�[m�[K
2025-11-02T03:11:53.1822234Z �[01m�[K/opt/ros/rolling/include/rclcpp/rclcpp/executors.hpp:109:1:�[m�[K �[01;36m�[Knote: �[m�[Kdeclared here
2025-11-02T03:11:53.1823210Z 109 | �[01;36m�[Kspin_some�[m�[K(rclcpp::Node::SharedPtr node_ptr);
2025-11-02T03:11:53.1823815Z | �[01;36m�[K^~~~~~~~~�[m�[K
2025-11-02T03:11:53.1825700Z �[01m�[K/home/runner/work/control_toolbox/control_toolbox/.work/target_ws/src/control_toolbox/control_toolbox/test/pid_ros_publisher_tests.cpp:�[m�[K In member function ‘�[01m�[Kvirtual void PidPublisherTest_PublishTestLifecycle_Test::�[01;32m�[KTestBody�[m�[K()�[m�[K’:
2025-11-02T03:11:53.1829501Z �[01m�[K/home/runner/work/control_toolbox/control_toolbox/.work/target_ws/src/control_toolbox/control_toolbox/test/pid_ros_publisher_tests.cpp:337:22:�[m�[K �[01;35m�[Kwarning: �[m�[K‘�[01m�[Kvoid rclcpp::�[01;32m�[Kspin_some�[m�[K(node_interfaces::NodeBaseInterface::SharedPtr)�[m�[K’ is deprecated: use SingleThreadedExecutor::spin_some instead [�[01;35m�[K-Wdeprecated-declarations�[m�[K]
2025-11-02T03:12:02.2847256Z 337 | �[01;35m�[Krclcpp::spin_some(node->get_node_base_interface())�[m�[K;
2025-11-02T03:12:02.2848537Z | �[01;35m�[K~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~�[m�[K
2025-11-02T03:12:02.2852840Z �[01m�[K/opt/ros/rolling/include/rclcpp/rclcpp/executors.hpp:90:1:�[m�[K �[01;36m�[Knote: �[m�[Kdeclared here
2025-11-02T03:12:02.2856519Z 90 | �[01;36m�[Kspin_some�[m�[K(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
2025-11-02T03:12:02.2857500Z | �[01;36m�[K^~~~~~~~~�[m�[K
2025-11-02T03:12:02.2857926Z ---
2025-11-02T03:12:02.2858269Z Finished <<< control_toolbox [8.04s]
Do you mind cleaning them up all at once?
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On it now! |
…Test, PublishTest_start_deactivated).
…st, PublishTest_prefix).
…st, PublishTest_local_prefix).
…st, PublishTestLifecycle), since it was previously using the node-base-interface overload we use the same executor pattern as other commits just add the lifecycle node to the executor.
Theonewhomadethings
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I have now made changes to the script pid_ros_publisher_tests.cpp. Let me know if any more changes are needed. |
christophfroehlich
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Overview
This PR replaces deprecated rclcpp::spin_some(...) calls in control_toolbox/test/pid_ros_parameters_tests.cpp with a rclcpp::executors::SingleThreadedExecutor, as suggested in #488.
What changed
Files changed are:
In this PR we update control_toolbox/control_toolbox/test/pid_ros_parameters_tests.cpp so that the two tests which were using the deprecated rclcpp::spin_some(...) now create a rclcpp::executors::SingleThreadedExecutor, add the test node to it once, and call executor.spin_some() instead. This applies to TEST(PidParametersTest, SetParametersTest) and to TEST(PidParametersTest, SetBadParametersTest), where we replaced all the previous rclcpp::spin_some(...) calls with the executor-based version to match the current ROS 2 recommendation and to remove the deprecation warning.
Notes for Reviewer
I am very open to feedback and am happy to make any changes that are requested.