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Replace deprecated rclcpp::spin_some() (backport #541) #542

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Merged
merged 1 commit into from
Nov 3, 2025
Merged

Replace deprecated rclcpp::spin_some() (backport #541) #542

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15 changes: 10 additions & 5 deletions control_toolbox/test/pid_ros_parameters_tests.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -240,6 +240,9 @@ TEST(PidParametersTest, SetParametersTest)
{
rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("pid_parameters_test");

rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node);

TestablePidROS pid(node, "", "", false);

const double P = 1.0;
Expand Down Expand Up @@ -295,8 +298,7 @@ TEST(PidParametersTest, SetParametersTest)
set_result = node->set_parameter(rclcpp::Parameter("activate_state_publisher", true)));
ASSERT_TRUE(set_result.successful);

// process callbacks
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();

// check gains were set using the parameters
control_toolbox::Pid::Gains gains = pid.get_gains();
Expand All @@ -315,6 +317,9 @@ TEST(PidParametersTest, SetBadParametersTest)
{
rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("pid_parameters_test");

rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node);

TestablePidROS pid(node, "", "", false);

const double P = 1.0;
Expand Down Expand Up @@ -370,7 +375,7 @@ TEST(PidParametersTest, SetBadParametersTest)
ASSERT_TRUE(set_result.successful);

// process callbacks
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();

// check gains were NOT set using the parameters but the u_max and u_min
// were set to infinity as saturation is false
Expand All @@ -393,7 +398,7 @@ TEST(PidParametersTest, SetBadParametersTest)
ASSERT_TRUE(set_result.successful);

// process callbacks
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();

// Setting good gains doesn't help, as the saturation is still false
gains = pid.get_gains();
Expand All @@ -412,7 +417,7 @@ TEST(PidParametersTest, SetBadParametersTest)
ASSERT_TRUE(set_result.successful);

// process callbacks
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();

// check gains were NOT set using the parameters
control_toolbox::Pid::Gains updated_gains = pid.get_gains();
Expand Down
31 changes: 23 additions & 8 deletions control_toolbox/test/pid_ros_publisher_tests.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,9 @@ TEST(PidPublisherTest, PublishTest)

auto node = std::make_shared<rclcpp::Node>("pid_publisher_test");

rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node);

control_toolbox::PidROS pid_ros = control_toolbox::PidROS(node, "", "", true);

AntiWindupStrategy antiwindup_strat;
Expand Down Expand Up @@ -66,7 +69,7 @@ TEST(PidPublisherTest, PublishTest)
for (size_t i = 0; i < ATTEMPTS && !callback_called; ++i)
{
pid_ros.compute_command(-0.5, rclcpp::Duration(1, 0));
rclcpp::spin_some(node);
executor.spin_some();
std::this_thread::sleep_for(DELAY);
}

Expand All @@ -82,6 +85,9 @@ TEST(PidPublisherTest, PublishTest_start_deactivated)

auto node = std::make_shared<rclcpp::Node>("pid_publisher_test");

rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node);

control_toolbox::PidROS pid_ros = control_toolbox::PidROS(node, "", "", false);

AntiWindupStrategy antiwindup_strat;
Expand Down Expand Up @@ -110,7 +116,7 @@ TEST(PidPublisherTest, PublishTest_start_deactivated)
for (size_t i = 0; i < ATTEMPTS && !callback_called; ++i)
{
pid_ros.compute_command(-0.5, rclcpp::Duration(1, 0));
rclcpp::spin_some(node);
executor.spin_some();
std::this_thread::sleep_for(DELAY);
}
ASSERT_FALSE(callback_called);
Expand All @@ -126,7 +132,7 @@ TEST(PidPublisherTest, PublishTest_start_deactivated)
for (size_t i = 0; i < ATTEMPTS && !callback_called; ++i)
{
pid_ros.compute_command(-0.5, rclcpp::Duration(1, 0));
rclcpp::spin_some(node);
executor.spin_some();
std::this_thread::sleep_for(DELAY);
}
ASSERT_TRUE(callback_called);
Expand All @@ -135,15 +141,15 @@ TEST(PidPublisherTest, PublishTest_start_deactivated)
ASSERT_NO_THROW(
set_result = node->set_parameter(rclcpp::Parameter("activate_state_publisher", false)));
ASSERT_TRUE(set_result.successful);
rclcpp::spin_some(node); // process callbacks to ensure that no further messages are received
executor.spin_some(); // process callbacks to ensure that no further messages are received
callback_called = false;
last_state_msg.reset();

// wait for callback
for (size_t i = 0; i < ATTEMPTS && !callback_called; ++i)
{
pid_ros.compute_command(-0.5, rclcpp::Duration(1, 0));
rclcpp::spin_some(node);
executor.spin_some();
std::this_thread::sleep_for(DELAY);
}
ASSERT_FALSE(callback_called);
Expand All @@ -157,6 +163,9 @@ TEST(PidPublisherTest, PublishTest_prefix)

auto node = std::make_shared<rclcpp::Node>("pid_publisher_test");

rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node);

// test with a prefix for the topic without trailing / (should be auto-added)
control_toolbox::PidROS pid_ros = control_toolbox::PidROS(node, "", "global", true);

Expand Down Expand Up @@ -186,7 +195,7 @@ TEST(PidPublisherTest, PublishTest_prefix)
for (size_t i = 0; i < ATTEMPTS && !callback_called; ++i)
{
pid_ros.compute_command(-0.5, rclcpp::Duration(1, 0));
rclcpp::spin_some(node);
executor.spin_some();
std::this_thread::sleep_for(DELAY);
}

Expand All @@ -202,6 +211,9 @@ TEST(PidPublisherTest, PublishTest_local_prefix)

auto node = std::make_shared<rclcpp::Node>("pid_publisher_test");

rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node);

control_toolbox::PidROS pid_ros = control_toolbox::PidROS(node, "", "~/local/", true);

AntiWindupStrategy antiwindup_strat;
Expand Down Expand Up @@ -230,7 +242,7 @@ TEST(PidPublisherTest, PublishTest_local_prefix)
for (size_t i = 0; i < ATTEMPTS && !callback_called; ++i)
{
pid_ros.compute_command(-0.5, rclcpp::Duration(1, 0));
rclcpp::spin_some(node);
executor.spin_some();
std::this_thread::sleep_for(DELAY);
}

Expand Down Expand Up @@ -302,6 +314,9 @@ TEST(PidPublisherTest, PublishTestLifecycle)

auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("pid_publisher_test");

rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node->get_node_base_interface());

control_toolbox::PidROS pid_ros(node, "", "", true);

auto state_pub_lifecycle_ =
Expand Down Expand Up @@ -334,7 +349,7 @@ TEST(PidPublisherTest, PublishTestLifecycle)
for (size_t i = 0; i < ATTEMPTS && !callback_called; ++i)
{
pid_ros.compute_command(-0.5, rclcpp::Duration(1, 0));
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();
std::this_thread::sleep_for(DELAY);
}
ASSERT_TRUE(callback_called);
Expand Down