fix test_static_publisher in macos (#284)

* Attempt to fix test_static_publisher in macos Signed-off-by: ahcorde <ahcorde@gmail.com> * make linters happy Signed-off-by: ahcorde <ahcorde@gmail.com>
ros2 · Jul 1, 2020 · e40c27d · e40c27d
1 parent 0395030
commit e40c27d
Showing 1 changed file with 36 additions and 4 deletions.
diff --git a/test_tf2/test/test_static_publisher.cpp b/test_tf2/test/test_static_publisher.cpp
@@ -46,6 +46,8 @@
 
 #include "permuter.hpp"
 
+const int MAX_ATTEMPTS = 100;
+
 TEST(StaticTransformPublisher, a_b_different_times)
 {
   auto node = rclcpp::Node::make_shared("StaticTransformPublisher_a_b_different_times_test");
@@ -60,7 +62,15 @@ TEST(StaticTransformPublisher, a_b_different_times)
   std::thread spin_thread = std::thread(
     std::bind(&rclcpp::executors::SingleThreadedExecutor::spin, &executor));
 
-  std::this_thread::sleep_for(std::chrono::milliseconds(200));
+  int attempts = 0;
+
+  while (!mB.canTransform("a", "b", tf2::timeFromSec(0))) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(50));
+    attempts++;
+    if (attempts > MAX_ATTEMPTS) {
+      FAIL();
+    }
+  }
 
   EXPECT_TRUE(mB.canTransform("a", "b", tf2::timeFromSec(0)));
   EXPECT_TRUE(mB.canTransform("a", "b", tf2::timeFromSec(100)));
@@ -85,7 +95,14 @@ TEST(StaticTransformPublisher, a_c_different_times)
   std::thread spin_thread = std::thread(
     std::bind(&rclcpp::executors::SingleThreadedExecutor::spin, &executor));
 
-  std::this_thread::sleep_for(std::chrono::milliseconds(200));
+  int attempts = 0;
+  while (!mB.canTransform("a", "c", tf2::timeFromSec(0))) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(50));
+    attempts++;
+    if (attempts > MAX_ATTEMPTS) {
+      FAIL();
+    }
+  }
 
   EXPECT_TRUE(mB.canTransform("a", "c", tf2::timeFromSec(0)));
   EXPECT_TRUE(mB.canTransform("a", "c", tf2::timeFromSec(10)));
@@ -110,7 +127,15 @@ TEST(StaticTransformPublisher, a_d_different_times)
   std::thread spin_thread = std::thread(
     std::bind(&rclcpp::executors::SingleThreadedExecutor::spin, &executor));
 
-  std::this_thread::sleep_for(std::chrono::milliseconds(200));
+  int attempts = 0;
+
+  while (!mB.canTransform("a", "c", tf2::timeFromSec(0))) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(50));
+    attempts++;
+    if (attempts > MAX_ATTEMPTS) {
+      FAIL();
+    }
+  }
 
   geometry_msgs::msg::TransformStamped ts;
   ts.transform.rotation.w = 1;
@@ -151,8 +176,15 @@ TEST(StaticTransformPublisher, multiple_parent_test)
   std::thread spin_thread = std::thread(
     std::bind(&rclcpp::executors::SingleThreadedExecutor::spin, &executor));
 
-  std::this_thread::sleep_for(std::chrono::milliseconds(200));
+  int attempts = 0;
 
+  while (!mB.canTransform("a", "b", tf2::timeFromSec(0))) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(50));
+    attempts++;
+    if (attempts > MAX_ATTEMPTS) {
+      FAIL();
+    }
+  }
 
   tf2_ros::StaticTransformBroadcaster stb(node);
   geometry_msgs::msg::TransformStamped ts;