From 1752c83c08c9db7827a64c9c85c8c8d3caf00a88 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Tue, 30 Jul 2024 07:43:12 +0000 Subject: [PATCH 1/2] Revert "Deactivate failing tests for example_15" This reverts commit 0c3c9786baff703dd0a816f528b8bbc2d346bdff. --- example_15/CMakeLists.txt | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/example_15/CMakeLists.txt b/example_15/CMakeLists.txt index 2ca67931b..53ab216dc 100644 --- a/example_15/CMakeLists.txt +++ b/example_15/CMakeLists.txt @@ -28,9 +28,8 @@ install( if(BUILD_TESTING) find_package(ament_cmake_pytest REQUIRED) - # TODO(christophfroehlich) deactivated because of bug in spawner - # ament_add_pytest_test(test_rrbot_namespace_launch test/test_rrbot_namespace_launch.py) - # ament_add_pytest_test(test_multi_controller_manager_launch test/test_multi_controller_manager_launch.py) + ament_add_pytest_test(test_rrbot_namespace_launch test/test_rrbot_namespace_launch.py) + ament_add_pytest_test(test_multi_controller_manager_launch test/test_multi_controller_manager_launch.py) endif() From 77515bf68505bb6a4df7af0b4e34417d37cf0ae7 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Sat, 28 Sep 2024 20:16:31 +0000 Subject: [PATCH 2/2] Remove RegisterEventHandlers --- .../bringup/launch/rrbot_base.launch.py | 11 +-------- .../bringup/launch/rrbot_namespace.launch.py | 23 ++----------------- 2 files changed, 3 insertions(+), 31 deletions(-) diff --git a/example_15/bringup/launch/rrbot_base.launch.py b/example_15/bringup/launch/rrbot_base.launch.py index d5fed3f91..97ba4947f 100644 --- a/example_15/bringup/launch/rrbot_base.launch.py +++ b/example_15/bringup/launch/rrbot_base.launch.py @@ -226,20 +226,11 @@ def generate_launch_description(): ) ) - # Delay start of joint_state_broadcaster after `robot_controller` - # TODO(anyone): This is a workaround for flaky tests. Remove when fixed. - delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler( - event_handler=OnProcessExit( - target_action=robot_controller_spawner, - on_exit=[joint_state_broadcaster_spawner], - ) - ) - nodes = [ control_node, robot_state_pub_node, robot_controller_spawner, - delay_joint_state_broadcaster_after_robot_controller_spawner, + joint_state_broadcaster_spawner, delay_rviz_after_joint_state_broadcaster_spawner, ] diff --git a/example_15/bringup/launch/rrbot_namespace.launch.py b/example_15/bringup/launch/rrbot_namespace.launch.py index d63a0b040..537bdb208 100644 --- a/example_15/bringup/launch/rrbot_namespace.launch.py +++ b/example_15/bringup/launch/rrbot_namespace.launch.py @@ -131,32 +131,13 @@ def generate_launch_description(): ) ) - # Delay start of joint_state_broadcaster after `robot_controller` - # TODO(anyone): This is a workaround for flaky tests. Remove when fixed. - delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler( - event_handler=OnProcessExit( - target_action=robot_forward_position_controller_spawner, - on_exit=[joint_state_broadcaster_spawner], - ) - ) - - # Delay start of robot_controller after `joint_state_broadcaster` - delay_robot_position_trajectory_controller_spawner_after_joint_state_broadcaster_spawner = ( - RegisterEventHandler( - event_handler=OnProcessExit( - target_action=joint_state_broadcaster_spawner, - on_exit=[robot_position_trajectory_controller_spawner], - ) - ) - ) - nodes = [ control_node, robot_state_pub_node, delay_rviz_after_joint_state_broadcaster_spawner, robot_forward_position_controller_spawner, - delay_joint_state_broadcaster_after_robot_controller_spawner, - delay_robot_position_trajectory_controller_spawner_after_joint_state_broadcaster_spawner, + joint_state_broadcaster_spawner, + robot_position_trajectory_controller_spawner, ] return LaunchDescription(declared_arguments + nodes)