Disable parameter event publishers on test nodes

Signed-off-by: Dan Rose <dan@digilabs.io>
ros2 · Oct 17, 2019 · 2903f51 · 2903f51
1 parent dc2b161
commit 2903f51
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Showing 3 changed files with 10 additions and 3 deletions.
diff --git a/rosbag2_test_common/include/rosbag2_test_common/publisher_manager.hpp b/rosbag2_test_common/include/rosbag2_test_common/publisher_manager.hpp
@@ -44,7 +44,9 @@ class PublisherManager
     const std::string & topic_name, std::shared_ptr<T> message, size_t expected_messages = 0)
   {
     auto node_name = std::string("publisher") + std::to_string(counter_++);
-    auto publisher_node = std::make_shared<rclcpp::Node>(node_name);
+    auto publisher_node = std::make_shared<rclcpp::Node>(
+      node_name,
+      rclcpp::NodeOptions().start_parameter_event_publisher(false));
     auto publisher = publisher_node->create_publisher<T>(topic_name, 10);
 
     publisher_nodes_.push_back(publisher_node);

diff --git a/rosbag2_test_common/include/rosbag2_test_common/subscription_manager.hpp b/rosbag2_test_common/include/rosbag2_test_common/subscription_manager.hpp
@@ -33,7 +33,10 @@ class SubscriptionManager
 public:
   SubscriptionManager()
   {
-    subscriber_node_ = std::make_shared<rclcpp::Node>("subscriber_node");
+    subscriber_node_ = std::make_shared<rclcpp::Node>(
+      "subscriber_node",
+      rclcpp::NodeOptions().start_parameter_event_publisher(false)
+    );
   }
 
   template<typename MessageT>

diff --git a/rosbag2_transport/test/rosbag2_transport/test_record_all_no_discovery.cpp b/rosbag2_transport/test/rosbag2_transport/test_record_all_no_discovery.cpp
@@ -30,7 +30,9 @@ TEST_F(RecordIntegrationTestFixture, record_all_without_discovery_ignores_later_
   start_recording({true, true, {}, "rmw_format", 1ms});
 
   std::this_thread::sleep_for(100ms);
-  auto publisher_node = std::make_shared<rclcpp::Node>("publisher_for_test");
+  auto publisher_node = std::make_shared<rclcpp::Node>(
+    "publisher_for_test",
+    rclcpp::NodeOptions().start_parameter_event_publisher(false));
   auto publisher = publisher_node->create_publisher<test_msgs::msg::Strings>("/string_topic", 10);
   for (int i = 0; i < 5; ++i) {
     std::this_thread::sleep_for(20ms);