Cleanup the launch_testing_examples. (#374)

* Cleanup the launch_testing_examples.

This is to make them more robust when run in parallel
with other tests.  In particular, we make sure that
the tests cleanup after themselves, and we also increase
the timeouts to 15 seconds.

Signed-off-by: Chris Lalancette <[email protected]>
Co-authored-by: Tomoya Fujita <[email protected]>

Author: clalancette

launch_testing/launch_testing_examples/README.md

@@ -14,8 +14,9 @@ launch_test launch_testing_examples/check_node_launch_test.py
 ```
 
 There might be situations where nodes, once launched, take some time to actually start and we need to wait for the node to start to perform some action.
-We can simulate this using ``launch.actions.TimerAction``. This example shows one way to detect when a node has been launched.
-We delay the launch by 5 seconds, and wait for the node to start with a timeout of 8 seconds.
+We can simulate this using ``launch.actions.TimerAction``.
+This example shows one way to detect when a node has been launched.
+We delay the launch by 5 seconds, and wait for the node to start with a timeout of 20 seconds.
 
 ### `check_multiple_nodes_launch_test.py`
 
@@ -64,7 +65,7 @@ Usage:
 launch_test launch_testing_examples/hello_world_launch_test.py
 ```
 
-This test is a simple example on how to use the ``launch_testing``. 
+This test is a simple example on how to use the ``launch_testing``.
 
 It launches a process and asserts that it prints "hello_world" to ``stdout`` using ``proc_output.assertWaitFor()``.
 Finally, it checks if the process exits normally (zero exit code).

launch_testing/launch_testing_examples/launch_testing_examples/check_msgs_launch_test.py

@@ -40,5 +40,5 @@ def generate_test_description():
 class TestFixture(unittest.TestCase):
 
     def test_check_if_msgs_published(self):
-        with WaitForTopics([('chatter', String)], timeout=5.0):
+        with WaitForTopics([('chatter', String)], timeout=15.0):
             print('Topic received messages !')

launch_testing/launch_testing_examples/launch_testing_examples/check_node_launch_test.py

@@ -44,19 +44,18 @@ def generate_test_description():
 
 class TestFixture(unittest.TestCase):
 
-    def test_node_start(self, proc_output):
+    def setUp(self):
         rclpy.init()
-        node = Node('test_node')
-        assert wait_for_node(node, 'demo_node_1', 8.0), 'Node not found !'
-        rclpy.shutdown()
-
+        self.node = Node('test_node')
 
-def wait_for_node(dummy_node, node_name, timeout=8.0):
-    start = time.time()
-    flag = False
-    print('Waiting for node...')
-    while time.time() - start < timeout and not flag:
-        flag = node_name in dummy_node.get_node_names()
-        time.sleep(0.1)
+    def tearDown(self):
+        self.node.destroy_node()
+        rclpy.shutdown()
 
-    return flag
+    def test_node_start(self, proc_output):
+        start = time.time()
+        found = False
+        while time.time() - start < 20.0 and not found:
+            found = 'demo_node_1' in self.node.get_node_names()
+            time.sleep(0.1)
+        assert found, 'Node not found !'

launch_testing/launch_testing_examples/launch_testing_examples/set_param_launch_test.py

@@ -43,26 +43,26 @@ def generate_test_description():
 if os.name != 'nt':
     class TestFixture(unittest.TestCase):
 
-        def test_set_parameter(self, proc_output):
+        def setUp(self):
             rclpy.init()
-            node = Node('test_node')
-            response = set_parameter(node, value=True)
-            assert response.successful, 'Could not set parameter!'
-            rclpy.shutdown()
+            self.node = Node('test_node')
 
+        def tearDown(self):
+            self.node.destroy_node()
+            rclpy.shutdown()
 
-def set_parameter(dummy_node, value=True, timeout=5.0):
-    parameters = [rclpy.Parameter('demo_parameter_1', value=value).to_parameter_msg()]
+        def test_set_parameter(self, proc_output):
+            parameters = [rclpy.Parameter('demo_parameter_1', value=True).to_parameter_msg()]
 
-    client = dummy_node.create_client(SetParameters, 'demo_node_1/set_parameters')
-    ready = client.wait_for_service(timeout_sec=timeout)
-    if not ready:
-        raise RuntimeError('Wait for service timed out')
+            client = self.node.create_client(SetParameters, 'demo_node_1/set_parameters')
+            ready = client.wait_for_service(timeout_sec=15.0)
+            if not ready:
+                raise RuntimeError('Wait for service timed out')
 
-    request = SetParameters.Request()
-    request.parameters = parameters
-    future = client.call_async(request)
-    rclpy.spin_until_future_complete(dummy_node, future, timeout_sec=timeout)
+            request = SetParameters.Request()
+            request.parameters = parameters
+            future = client.call_async(request)
+            rclpy.spin_until_future_complete(self.node, future, timeout_sec=15.0)
 
-    response = future.result()
-    return response.results[0]
+            response = future.result()
+            assert response.results[0].successful, 'Could not set parameter!'

launch_testing/launch_testing_examples/package.xml

@@ -22,7 +22,6 @@
   <exec_depend>rclpy</exec_depend>
   <exec_depend>rcl_interfaces</exec_depend>
   <exec_depend>ros2bag</exec_depend>
-  <exec_depend>rosbag2_transport</exec_depend>
   <exec_depend>std_msgs</exec_depend>
 
   <test_depend>ament_copyright</test_depend>