Add test for GenericPublisher

Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>

rosbag2_transport/test/rosbag2_transport/test_rosbag2_node.cpp

@@ -166,6 +166,37 @@ TEST_F(RosBag2NodeFixture, generic_subscription_uses_qos)
   EXPECT_THAT(subscribed_messages[0], StrEq("Hello World"));
 }
 
+TEST_F(RosBag2NodeFixture, generic_publisher_uses_qos)
+{
+  // If the GenericPublisher does not use the provided QoS profile,
+  // its offer will be incompatible with the Subscription's request and no messages will be passed.
+  using namespace std::chrono_literals;
+  std::vector<std::string> test_messages = {"Hello World", "Hello World"};
+  std::string topic_name = "string_topic";
+  std::string type = "test_msgs/Strings";
+  // If the Subscription requests Transient Local Durability and the publisher offers the
+  // default (Volatile Durability), there will be no match.
+  rclcpp::QoS qos = rosbag2_transport::Rosbag2QoS().transient_local();
+  auto publisher = node_->create_generic_publisher(topic_name, type, qos);
+
+  auto subscriber_future_ = std::async(
+    std::launch::async, [this, topic_name, type, qos] {
+      return subscribe_raw_messages(1, topic_name, type, qos);
+    });
+  // Give time to the subscriber to start.
+  std::this_thread::sleep_for(std::chrono::milliseconds(100));
+
+  for (const auto & message : test_messages) {
+    publisher->publish(serialize_string_message(message));
+    // This is necessary because sometimes, the subscriber is initialized very late
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+  }
+
+  auto subscribed_messages = subscriber_future_.get();
+  ASSERT_THAT(subscribed_messages, SizeIs(Not(0)));
+  EXPECT_THAT(subscribed_messages[0], StrEq("Hello World"));
+}
+
 TEST_F(RosBag2NodeFixture, get_topics_with_types_returns_empty_if_topic_does_not_exist) {
   create_publisher("string_topic");