Use spin all to avoid flaky tests

Signed-off-by: Maurice <[email protected]>

Author: mini-1235

nav2_docking/opennav_docking/test/test_controller.cpp

@@ -304,23 +304,23 @@ TEST(ControllerTests, CollisionCheckerDockForward) {
   // Publish an empty costmap
   // It should not hit anything in an empty costmap
   collision_tester->publishCostmap();
-  executor.spin_some();
+  executor.spin_all(std::chrono::milliseconds(50));
   EXPECT_TRUE(controller->isTrajectoryCollisionFree(dock_pose, true, false));
 
   // Set a dock in the costmap of 0.2x1.5m at 2m in front of the robot
   // It should hit the dock because the robot is 0.5m wide and the dock pose is at 1.75
   // But it does not hit because the collision tolerance is 0.3m
   collision_tester->setRectangle(0.2, 1.5, 2.0, -0.75, nav2_costmap_2d::LETHAL_OBSTACLE);
   collision_tester->publishCostmap();
-  executor.spin_some();
+  executor.spin_all(std::chrono::milliseconds(50));
   EXPECT_TRUE(controller->isTrajectoryCollisionFree(dock_pose, true, false));
 
   // Set an object between the robot and the dock
   // It should hit the object
   collision_tester->clearCostmap();
   collision_tester->setRectangle(0.2, 0.2, 1.0, -0.1, nav2_costmap_2d::LETHAL_OBSTACLE);
   collision_tester->publishCostmap();
-  executor.spin_some();
+  executor.spin_all(std::chrono::milliseconds(50));
   EXPECT_FALSE(controller->isTrajectoryCollisionFree(dock_pose, true, false));
 
   // Set the collision tolerance to 0 to ensure all obstacles in the path are detected
@@ -331,7 +331,7 @@ TEST(ControllerTests, CollisionCheckerDockForward) {
   collision_tester->clearCostmap();
   collision_tester->setRectangle(0.2, 1.5, 2.0, -0.75, nav2_costmap_2d::LETHAL_OBSTACLE);
   collision_tester->publishCostmap();
-  executor.spin_some();
+  executor.spin_all(std::chrono::milliseconds(50));
   EXPECT_FALSE(controller->isTrajectoryCollisionFree(dock_pose, true, false));
 
   collision_tester->deactivate();
@@ -371,23 +371,23 @@ TEST(ControllerTests, CollisionCheckerDockBackward) {
   // Publish an empty costmap
   // It should not hit anything in an empty costmap
   collision_tester->publishCostmap();
-  executor.spin_some();
+  executor.spin_all(std::chrono::milliseconds(50));
   EXPECT_TRUE(controller->isTrajectoryCollisionFree(dock_pose, true, true));
 
   // Set a dock in the costmap of 0.2x1.5m at 2m behind the robot
   // It should hit the dock because the robot is 0.5m wide and the dock pose is at -1.75
   // But it does not hit because the collision tolerance is 0.3m
   collision_tester->setRectangle(0.2, 1.5, -2.1, -0.75, nav2_costmap_2d::LETHAL_OBSTACLE);
   collision_tester->publishCostmap();
-  executor.spin_some();
+  executor.spin_all(std::chrono::milliseconds(50));
   EXPECT_TRUE(controller->isTrajectoryCollisionFree(dock_pose, true, true));
 
   // Set an object between the robot and the dock
   // It should hit the object
   collision_tester->clearCostmap();
   collision_tester->setRectangle(0.2, 0.2, -1.0, 0.0, nav2_costmap_2d::LETHAL_OBSTACLE);
   collision_tester->publishCostmap();
-  executor.spin_some();
+  executor.spin_all(std::chrono::milliseconds(50));
   EXPECT_FALSE(controller->isTrajectoryCollisionFree(dock_pose, true, true));
 
   // Set the collision tolerance to 0 to ensure all obstacles in the path are detected
@@ -398,7 +398,7 @@ TEST(ControllerTests, CollisionCheckerDockBackward) {
   collision_tester->clearCostmap();
   collision_tester->setRectangle(0.2, 1.5, -2.1, -0.75, nav2_costmap_2d::LETHAL_OBSTACLE);
   collision_tester->publishCostmap();
-  executor.spin_some();
+  executor.spin_all(std::chrono::milliseconds(50));
   EXPECT_FALSE(controller->isTrajectoryCollisionFree(dock_pose, true, true));
 
   collision_tester->deactivate();
@@ -438,31 +438,31 @@ TEST(ControllerTests, CollisionCheckerUndockBackward) {
   // Publish an empty costmap
   // It should not hit anything in an empty costmap
   collision_tester->publishCostmap();
-  executor.spin_some();
+  executor.spin_all(std::chrono::milliseconds(50));
   EXPECT_TRUE(controller->isTrajectoryCollisionFree(staging_pose, false, true));
 
   // Set a dock in the costmap of 0.2x1.5m in front of the robot. The robot is docked
   // It should hit the dock because the robot is 0.5m wide and the robot pose is at 1.75
   // But it does not hit because the collision tolerance is 0.3m
   collision_tester->setRectangle(0.2, 1.5, 0.25, -0.75, nav2_costmap_2d::LETHAL_OBSTACLE);
   collision_tester->publishCostmap();
-  executor.spin_some();
+  executor.spin_all(std::chrono::milliseconds(50));
   EXPECT_TRUE(controller->isTrajectoryCollisionFree(staging_pose, false, true));
 
   // Set an object beyond the staging pose
   // It should hit the object
   collision_tester->clearCostmap();
   collision_tester->setRectangle(0.2, 0.2, -1.75 - 0.5, -0.1, nav2_costmap_2d::LETHAL_OBSTACLE);
   collision_tester->publishCostmap();
-  executor.spin_some();
+  executor.spin_all(std::chrono::milliseconds(50));
   EXPECT_FALSE(controller->isTrajectoryCollisionFree(staging_pose, false, true));
 
   // Set an object between the robot and the staging pose
   // It should hit the object
   collision_tester->clearCostmap();
   collision_tester->setRectangle(0.2, 0.2, -1.0, -0.1, nav2_costmap_2d::LETHAL_OBSTACLE);
   collision_tester->publishCostmap();
-  executor.spin_some();
+  executor.spin_all(std::chrono::milliseconds(50));
   EXPECT_FALSE(controller->isTrajectoryCollisionFree(staging_pose, false, true));
 
   // Set the collision tolerance to 0 to ensure all obstacles in the path are detected
@@ -473,7 +473,7 @@ TEST(ControllerTests, CollisionCheckerUndockBackward) {
   collision_tester->clearCostmap();
   collision_tester->setRectangle(0.2, 1.5, 0.25, -0.75, nav2_costmap_2d::LETHAL_OBSTACLE);
   collision_tester->publishCostmap();
-  executor.spin_some();
+  executor.spin_all(std::chrono::milliseconds(50));
   EXPECT_FALSE(controller->isTrajectoryCollisionFree(staging_pose, false, true));
 
   collision_tester->deactivate();
@@ -513,30 +513,30 @@ TEST(ControllerTests, CollisionCheckerUndockForward) {
   // Publish an empty costmap
   // It should not hit anything in an empty costmap
   collision_tester->publishCostmap();
-  executor.spin_some();
+  executor.spin_all(std::chrono::milliseconds(50));
   EXPECT_TRUE(controller->isTrajectoryCollisionFree(staging_pose, false, false));
 
   // Set a dock in the costmap of 0.2x1.5m at 0.5m behind the robot. The robot is docked
   // It should not hit anything because the robot is docked and the trajectory is backward
   collision_tester->setRectangle(0.2, 1.5, -0.35, -0.75, nav2_costmap_2d::LETHAL_OBSTACLE);
   collision_tester->publishCostmap();
-  executor.spin_some();
+  executor.spin_all(std::chrono::milliseconds(50));
   EXPECT_TRUE(controller->isTrajectoryCollisionFree(staging_pose, false, false));
 
   // Set an object beyond the staging pose
   // It should hit the object
   collision_tester->clearCostmap();
   collision_tester->setRectangle(0.2, 0.3, 1.75 + 0.5, 0.0, nav2_costmap_2d::LETHAL_OBSTACLE);
   collision_tester->publishCostmap();
-  executor.spin_some();
+  executor.spin_all(std::chrono::milliseconds(50));
   EXPECT_FALSE(controller->isTrajectoryCollisionFree(staging_pose, false, false));
 
   // Set an object between the robot and the staging pose
   // It should hit the object
   collision_tester->clearCostmap();
   collision_tester->setRectangle(0.2, 0.2, 1.0, 0.0, nav2_costmap_2d::LETHAL_OBSTACLE);
   collision_tester->publishCostmap();
-  executor.spin_some();
+  executor.spin_all(std::chrono::milliseconds(50));
   EXPECT_FALSE(controller->isTrajectoryCollisionFree(staging_pose, false, false));
 
   // Set the collision tolerance to 0 to ensure all obstacles in the path are detected
@@ -547,7 +547,7 @@ TEST(ControllerTests, CollisionCheckerUndockForward) {
   collision_tester->clearCostmap();
   collision_tester->setRectangle(0.2, 1.5, -0.35, -0.75, nav2_costmap_2d::LETHAL_OBSTACLE);
   collision_tester->publishCostmap();
-  executor.spin_some();
+  executor.spin_all(std::chrono::milliseconds(50));
   EXPECT_FALSE(controller->isTrajectoryCollisionFree(staging_pose, false, false));
 
   collision_tester->deactivate();