From 1638ccd151c41db5194cf65766d6100583f98dba Mon Sep 17 00:00:00 2001
From: Bence Magyar <bence.magyar.robotics@gmail.com>
Date: Mon, 28 Jun 2021 08:34:35 +0100
Subject: [PATCH] Improve flaky test

---
 imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp     | 2 +-
 .../test/test_load_imu_sensor_broadcaster.cpp                   | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
index e7f6f6ad2c..9000055c9d 100644
--- a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
+++ b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
@@ -44,7 +44,7 @@ rclcpp::WaitResultKind wait_for(rclcpp::SubscriptionBase::SharedPtr subscription
 {
   rclcpp::WaitSet wait_set;
   wait_set.add_subscription(subscription);
-  const auto timeout = std::chrono::seconds(10);
+  const auto timeout = std::chrono::seconds(20);
   return wait_set.wait(timeout).kind();
 }
 
diff --git a/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp
index 5a072e73d8..55bdb63e38 100644
--- a/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp
+++ b/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp
@@ -41,4 +41,6 @@ TEST(TestLoadIMUSensorBroadcaster, load_controller)
     cm.load_controller(
       "test_imu_sensor_broadcaster",
       "imu_sensor_broadcaster/IMUSensorBroadcaster"));
+
+  rclcpp::shutdown();
 }