Change the subscription timeout in the tests to 5ms (#1219)

ros-controls · Jul 18, 2024 · f7b1af1 · f7b1af1
1 parent 96a8d57
commit f7b1af1
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Showing 10 changed files with 11 additions and 11 deletions.
diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
@@ -216,7 +216,7 @@ class AckermannSteeringControllerFixture : public ::testing::Test
     while (max_sub_check_loop_count--)
     {
       controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01));
-      const auto timeout = std::chrono::milliseconds{1};
+      const auto timeout = std::chrono::milliseconds{5};
       const auto until = test_subscription_node.get_clock()->now() + timeout;
       while (!received_msg && test_subscription_node.get_clock()->now() < until)
       {

diff --git a/admittance_controller/test/test_admittance_controller.hpp b/admittance_controller/test/test_admittance_controller.hpp
@@ -270,7 +270,7 @@ class AdmittanceControllerTest : public ::testing::Test
       controller_interface::return_type::OK);
 
     // wait for message to be passed
-    const auto timeout = std::chrono::milliseconds{1};
+    const auto timeout = std::chrono::milliseconds{5};
     const auto until = test_subscription_node_->get_clock()->now() + timeout;
     while (!received_msg && test_subscription_node_->get_clock()->now() < until)
     {

diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
@@ -190,7 +190,7 @@ class BicycleSteeringControllerFixture : public ::testing::Test
     while (max_sub_check_loop_count--)
     {
       controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01));
-      const auto timeout = std::chrono::milliseconds{1};
+      const auto timeout = std::chrono::milliseconds{5};
       const auto until = test_subscription_node.get_clock()->now() + timeout;
       while (!received_msg && test_subscription_node.get_clock()->now() < until)
       {

diff --git a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
@@ -85,7 +85,7 @@ void ForceTorqueSensorBroadcasterTest::subscribe_and_get_message(
   while (max_sub_check_loop_count--)
   {
     fts_broadcaster_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
-    const auto timeout = std::chrono::milliseconds{1};
+    const auto timeout = std::chrono::milliseconds{5};
     const auto until = test_subscription_node.get_clock()->now() + timeout;
     while (!received_msg && test_subscription_node.get_clock()->now() < until)
     {

diff --git a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
@@ -86,7 +86,7 @@ void IMUSensorBroadcasterTest::subscribe_and_get_message(sensor_msgs::msg::Imu &
   while (max_sub_check_loop_count--)
   {
     imu_broadcaster_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
-    const auto timeout = std::chrono::milliseconds{1};
+    const auto timeout = std::chrono::milliseconds{5};
     const auto until = test_subscription_node.get_clock()->now() + timeout;
     while (!received_msg && test_subscription_node.get_clock()->now() < until)
     {

diff --git a/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp b/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp
@@ -677,7 +677,7 @@ void JointStateBroadcasterTest::activate_and_get_joint_state_message(
   while (max_sub_check_loop_count--)
   {
     state_broadcaster_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
-    const auto timeout = std::chrono::milliseconds{1};
+    const auto timeout = std::chrono::milliseconds{5};
     const auto until = test_node.get_clock()->now() + timeout;
     while (!received_msg && test_node.get_clock()->now() < until)
     {
@@ -755,7 +755,7 @@ void JointStateBroadcasterTest::test_published_dynamic_joint_state_message(
   while (max_sub_check_loop_count--)
   {
     state_broadcaster_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
-    const auto timeout = std::chrono::milliseconds{1};
+    const auto timeout = std::chrono::milliseconds{5};
     const auto until = test_node.get_clock()->now() + timeout;
     while (test_node.get_clock()->now() < until)
     {

diff --git a/pid_controller/test/test_pid_controller.hpp b/pid_controller/test/test_pid_controller.hpp
@@ -186,7 +186,7 @@ class PidControllerFixture : public ::testing::Test
     while (max_sub_check_loop_count--)
     {
       controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01));
-      const auto timeout = std::chrono::milliseconds{1};
+      const auto timeout = std::chrono::milliseconds{5};
       const auto until = test_subscription_node.get_clock()->now() + timeout;
       while (!received_msg && test_subscription_node.get_clock()->now() < until)
       {

diff --git a/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp b/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp
@@ -80,7 +80,7 @@ void RangeSensorBroadcasterTest::subscribe_and_get_message(sensor_msgs::msg::Ran
   while (max_sub_check_loop_count--)
   {
     range_broadcaster_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
-    const auto timeout = std::chrono::milliseconds{1};
+    const auto timeout = std::chrono::milliseconds{5};
     const auto until = test_subscription_node.get_clock()->now() + timeout;
     while (!received_msg && test_subscription_node.get_clock()->now() < until)
     {

diff --git a/steering_controllers_library/test/test_steering_controllers_library.hpp b/steering_controllers_library/test/test_steering_controllers_library.hpp
@@ -237,7 +237,7 @@ class SteeringControllersLibraryFixture : public ::testing::Test
     while (max_sub_check_loop_count--)
     {
       controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01));
-      const auto timeout = std::chrono::milliseconds{1};
+      const auto timeout = std::chrono::milliseconds{5};
       const auto until = test_subscription_node.get_clock()->now() + timeout;
       while (!received_msg && test_subscription_node.get_clock()->now() < until)
       {

diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
@@ -203,7 +203,7 @@ class TricycleSteeringControllerFixture : public ::testing::Test
     while (max_sub_check_loop_count--)
     {
       controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01));
-      const auto timeout = std::chrono::milliseconds{1};
+      const auto timeout = std::chrono::milliseconds{5};
       const auto until = test_subscription_node.get_clock()->now() + timeout;
       while (!received_msg && test_subscription_node.get_clock()->now() < until)
       {