fix: modify some tests

gazebo_plugins/CMakeLists.txt

@@ -476,7 +476,13 @@ ament_export_dependencies(gazebo_ros)
 if(BUILD_TESTING)
   add_subdirectory(test)
   find_package(ament_lint_auto REQUIRED)
+  list(APPEND AMENT_LINT_AUTO_EXCLUDE
+    ament_cmake_cpplint
+  )
   ament_lint_auto_find_test_dependencies()
+  ament_cpplint(
+    FILTERS -build/include_order
+  )
 endif()
 
 if(NOT WIN32)

gazebo_ros/CMakeLists.txt

@@ -161,7 +161,13 @@ ament_export_dependencies(gazebo_dev)
 if(BUILD_TESTING)
   add_subdirectory(test)
   find_package(ament_lint_auto REQUIRED)
+  list(APPEND AMENT_LINT_AUTO_EXCLUDE
+    ament_cmake_cpplint
+  )
   ament_lint_auto_find_test_dependencies()
+  ament_cpplint(
+    FILTERS -build/include_order
+  )
 endif()
 
 ament_package()

gazebo_ros/scripts/spawn_entity.py

@@ -22,13 +22,13 @@
 import os
 import sys
 from urllib.parse import SplitResult, urlsplit
-from lxml import etree as ElementTree
 
 from gazebo_msgs.msg import ModelStates
 from gazebo_msgs.srv import DeleteEntity
 # from gazebo_msgs.srv import SetModelConfiguration
 from gazebo_msgs.srv import SpawnEntity
 from geometry_msgs.msg import Pose
+from lxml import etree as ElementTree
 import rclpy
 from rclpy.node import Node
 from rclpy.qos import QoSDurabilityPolicy

gazebo_ros/test/test_disable_performance_metrics.test.py

@@ -12,22 +12,24 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from threading import Event, Thread
+import time
 import unittest
 
+from gazebo_msgs.msg import PerformanceMetrics
+
 import launch
 import launch.actions
 
 import launch_testing
 import launch_testing.asserts
+
 import pytest
 
-import rclpy
-from gazebo_msgs.msg import PerformanceMetrics
-from rclpy.node import Node
 from rcl_interfaces.msg import Parameter, ParameterType
 from rcl_interfaces.srv import SetParameters
-import time
-from threading import Thread, Event
+import rclpy
+from rclpy.node import Node
 
 
 @pytest.mark.launch_test
@@ -89,12 +91,13 @@ def test_parameter_disable(self):
 
         node.start_subscriber()
         msgs_received_flag = node.msg_event_object.wait(timeout=5.0)
-        assert not msgs_received_flag, f'Received messages after\
+        assert not msgs_received_flag, 'Received messages after\
             setting enable_performance_metrics parameter to False, test failed'
         rclpy.shutdown()
 
 
 class MakeTestNode(Node):
+
     def __init__(self, name):
         """Initialize node and counters."""
         super().__init__(name)

gazebo_ros/test/test_sim_time.cpp

@@ -62,7 +62,7 @@ TEST_F(TestSimTime, TestClock)
   std::vector<ClockMsg::SharedPtr> msgs;
   std::vector<rclcpp::Time> times;
   auto sub = node->create_subscription<ClockMsg>(
-    "/clock", rclcpp::SystemDefaultsQoS(),
+    "/clock", rclcpp::ClockQoS(),
     [&](ClockMsg::SharedPtr _msg) {
       msgs.push_back(_msg);
       times.push_back(node->now());