Check that future is done, and always call rclpy.shutdown (#273)

* Assert the client call succeeded

Signed-off-by: Shane Loretz <[email protected]>

* Shutdown rclpy when test throws exceptions

Signed-off-by: Shane Loretz <[email protected]>

Author: sloretz

launch_testing_ros/test/examples/check_msgs_launch_test.py

@@ -51,11 +51,13 @@ class TestFixture(unittest.TestCase):
 
     def test_check_if_msgs_published(self, proc_output):
         rclpy.init()
-        node = MakeTestNode('test_node')
-        node.start_subscriber()
-        msgs_received_flag = node.msg_event_object.wait(timeout=5.0)
-        assert msgs_received_flag, 'Did not receive msgs !'
-        rclpy.shutdown()
+        try:
+            node = MakeTestNode('test_node')
+            node.start_subscriber()
+            msgs_received_flag = node.msg_event_object.wait(timeout=5.0)
+            assert msgs_received_flag, 'Did not receive msgs !'
+        finally:
+            rclpy.shutdown()
 
 
 class MakeTestNode(Node):

launch_testing_ros/test/examples/check_node_launch_test.py

@@ -51,9 +51,11 @@ class TestFixture(unittest.TestCase):
 
     def test_node_start(self, proc_output):
         rclpy.init()
-        node = MakeTestNode('test_node')
-        assert node.wait_for_node('demo_node_1', 8.0), 'Node not found !'
-        rclpy.shutdown()
+        try:
+            node = MakeTestNode('test_node')
+            assert node.wait_for_node('demo_node_1', 8.0), 'Node not found !'
+        finally:
+            rclpy.shutdown()
 
 
 class MakeTestNode(Node):

launch_testing_ros/test/examples/set_param_launch_test.py

@@ -47,10 +47,12 @@ class TestFixture(unittest.TestCase):
 
     def test_set_parameter(self, proc_output):
         rclpy.init()
-        node = MakeTestNode('test_node')
-        response = node.set_parameter(state=True)
-        assert response.successful, 'Could not set parameter!'
-        rclpy.shutdown()
+        try:
+            node = MakeTestNode('test_node')
+            response = node.set_parameter(state=True)
+            assert response.successful, 'Could not set parameter!'
+        finally:
+            rclpy.shutdown()
 
 
 class MakeTestNode(Node):
@@ -71,5 +73,7 @@ def set_parameter(self, state=True, timeout=5.0):
         future = client.call_async(request)
         rclpy.spin_until_future_complete(self, future, timeout_sec=timeout)
 
+        assert future.done(), 'Client request timed out'
+
         response = future.result()
         return response.results[0]