From b0adc599ab515a493f59f48e7b21763176fb4063 Mon Sep 17 00:00:00 2001 From: Ryan Friedman Date: Fri, 6 Sep 2024 08:59:28 -0600 Subject: [PATCH] dev: Stop testing ROS2 in parallel * It causes issues with multiple SITL ports and DDS topics overlapping Signed-off-by: Ryan Friedman --- dev/source/docs/ros2.rst | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/dev/source/docs/ros2.rst b/dev/source/docs/ros2.rst index 238a8772d5..532c76d280 100644 --- a/dev/source/docs/ros2.rst +++ b/dev/source/docs/ros2.rst @@ -95,13 +95,13 @@ If the build fails, when you request help, please re-run the build in verbose mo colcon build --packages-up-to ardupilot_dds_tests --event-handlers=console_cohesion+ -If you'd like to test your installation, run: +If you'd like to test your ArduPilot ROS 2 installation, run: .. code-block:: bash cd ~/ros2_ws source ./install/setup.bash - colcon test --packages-select ardupilot_dds_tests + colcon test --executor sequential --parallel-workers 0 --base-paths src/ardupilot --event-handlers=console_cohesion+ colcon test-result --all --verbose While `colcon` provides a convenient way for building multiple repositories in the correct order, @@ -111,6 +111,10 @@ has been wrapped by `CMake`. If you would like all the `waf` options exposed, consider upvoting this `issue. `__ +The ``base-paths`` is used to limit testing only to ArduPilot. +We use a sequential executor and no parallel works because otherwise the tests try +to open multiple SITL processes on the same port, and the DDS traffic has cross-talk between +parallel tests. Installation (MacOS) ====================