Merge pull request #1261 from ubi-agni/fix-flaky-test

Fix flaky test
moveit · Dec 12, 2018 · 1d78df5 · 1d78df5
2 parents 1812bdb + 6e7bdc2
commit 1d78df5
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Showing 7 changed files with 13 additions and 15 deletions.
diff --git a/moveit_ros/planning_interface/common_planning_interface_objects/src/common_objects.cpp b/moveit_ros/planning_interface/common_planning_interface_objects/src/common_objects.cpp
@@ -75,6 +75,7 @@ SharedStorage& getSharedStorage()
 #endif
 }
 
+// Deleter that, additionally to T*, deletes another object too
 template <typename T, typename O>
 struct CoupledDeleter
 {
@@ -85,9 +86,9 @@ struct CoupledDeleter
 
   void operator()(const T* p)
   {
-    delete p;
     if (other_)
       delete other_;
+    delete p;
   }
 };
 }

diff --git a/moveit_ros/planning_interface/test/CMakeLists.txt b/moveit_ros/planning_interface/test/CMakeLists.txt
@@ -2,13 +2,11 @@ if (CATKIN_ENABLE_TESTING)
   find_package(moveit_resources)
   find_package(rostest)
 
-  add_rostest_gtest(test_cleanup cleanup.test cleanup.cpp)
+  add_executable(test_cleanup test_cleanup.cpp)
   target_link_libraries(test_cleanup moveit_move_group_interface)
 
   add_rostest(python_move_group.test)
   add_rostest(python_move_group_ns.test)
   add_rostest(robot_state_update.test)
+  add_rostest(cleanup.test)
 endif()
-
-install(PROGRAMS python_move_group.py python_move_group_ns.py DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/test)
-install(FILES python_move_group.test python_move_group_ns.test DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/test)
diff --git a/moveit_ros/planning_interface/test/cleanup.py b/moveit_ros/planning_interface/test/cleanup.py
@@ -21,13 +21,18 @@ def __init__(self, *args, **kwargs):
         super(CleanupTest, self).__init__(*args, **kwargs)
         self._rospack = rospkg.RosPack()
 
+    def run_cmd(self, cmd, num = 5):
+        failures = 0
+        for i in range(num):
+            if subprocess.call(cmd) != 0:
+                failures += 1
+        self.assertEqual(failures, 0, "%d of %d runs failed" % (failures, num))
+
     def test_py(self):
-        cmd = roslib.packages.find_node(PKGNAME, "movegroup_interface.py", self._rospack)
-        self.assertTrue(subprocess.call(cmd) == 0)
+        self.run_cmd(roslib.packages.find_node(PKGNAME, "test_cleanup.py", self._rospack))
 
     def test_cpp(self):
-        cmd = roslib.packages.find_node(PKGNAME, "test_cleanup", self._rospack)
-        self.assertTrue(subprocess.call(cmd) == 0)
+        self.run_cmd(roslib.packages.find_node(PKGNAME, "test_cleanup", self._rospack))
 
 if __name__ == '__main__':
     rostest.rosrun(PKGNAME, NODENAME, CleanupTest)
diff --git a/moveit_ros/planning_interface/test/python_move_group.py b/moveit_ros/planning_interface/test/python_move_group.py
@@ -62,6 +62,3 @@ def test_validation(self):
     NODENAME = 'moveit_test_python_move_group'
     rospy.init_node(NODENAME)
     rostest.rosrun(PKGNAME, NODENAME, PythonMoveGroupTest)
-
-    # suppress cleanup segfault
-    os._exit(0)
diff --git a/moveit_ros/planning_interface/test/python_move_group_ns.py b/moveit_ros/planning_interface/test/python_move_group_ns.py
@@ -100,6 +100,3 @@ def test_validation(self):
     NODENAME = 'moveit_test_python_move_group'
     rospy.init_node(NODENAME)
     rostest.rosrun(PKGNAME, NODENAME, PythonMoveGroupNsTest)
-
-    # suppress cleanup segfault
-    os._exit(0)
diff --git a/...t_ros/planning_interface/test/cleanup.cpp → .../planning_interface/test/test_cleanup.cpp b/...t_ros/planning_interface/test/cleanup.cpp → .../planning_interface/test/test_cleanup.cpp
diff --git a/...ing_interface/test/movegroup_interface.py → ...s/planning_interface/test/test_cleanup.py b/...ing_interface/test/movegroup_interface.py → ...s/planning_interface/test/test_cleanup.py