Adjust for new rclcpp::Rate API #516
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Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com>
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clalancette
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Aug 31, 2023
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CI for this is in ros2/rclcpp#2123 (comment) |
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This is a adjustement fix for the test regressions appeared in
test_communicationandtest_securityafter applying newrclcpp::RateAPI (ros2/rclcpp#2123).The new
rclcpp::RateAPI after the change implies that RCLCPP context should exist at therate.sleep()call time. However, internal test publisher's logic does not destroy theRateobjects after RCLCPP was stopped, which causes a runtime exceptions. Moreover, there are some tests (named**AfterShutdown), that intentionally runs the subscriber and publisher nodes (withrclcpp::Rateworking inside) after the context was stopped and checks that everything is just closed correctly. This in our case is also causing the same run-time exception.Thus, without large test modification, it is seems to be impossible to fix it by just changing the
rclcpp::Rateusage logic. Therefore, it was chosen to handle thecontext cannot be slept with because it's invalidexceptions appears during therclcpp::Rateusage w/o context. This exception raises in two cases described above, when test was already finished. So, this should be a simpler way to handle this, I suppose.