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Explicitly remove subscription from wait_for WaitSet #1106

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Explicitly remove subscription from wait_for WaitSet #1106

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eb42964
Specify runner/container images
christophfroehlich Apr 24, 2024
3248713
Explicitly remove subscription from wait_for WaitSet
dhood Apr 26, 2024
b65df63
remove extraneous whitespace
dhood Apr 26, 2024
81082d4
whitespace from gh web editor
dhood Apr 26, 2024
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1 change: 1 addition & 0 deletions .github/workflows/humble-source-build.yml
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Expand Up @@ -15,3 +15,4 @@ jobs:
ros_distro: humble
ref: humble
ros2_repo_branch: humble
os_name: ubuntu-22.04
1 change: 1 addition & 0 deletions .github/workflows/iron-source-build.yml
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Expand Up @@ -15,3 +15,4 @@ jobs:
ros_distro: iron
ref: iron
ros2_repo_branch: iron
os_name: ubuntu-22.04
2 changes: 1 addition & 1 deletion .github/workflows/rolling-coverage-build.yml
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Expand Up @@ -14,4 +14,4 @@ jobs:
secrets: inherit
with:
ros_distro: rolling
os_name: ubuntu-22.04
container: ubuntu:24.04
2 changes: 1 addition & 1 deletion .github/workflows/rolling-pre-commit.yml
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Expand Up @@ -11,4 +11,4 @@ jobs:
uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
with:
ros_distro: rolling
os_name: ubuntu-22.04
container: ubuntu:24.04
1 change: 1 addition & 0 deletions .github/workflows/rolling-source-build.yml
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Expand Up @@ -15,3 +15,4 @@ jobs:
ros_distro: rolling
ref: master
ros2_repo_branch: rolling
container: ubuntu:24.04
7 changes: 6 additions & 1 deletion velocity_controllers/test/test_joint_group_velocity_controller.cpp
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Expand Up @@ -24,6 +24,7 @@
#include "hardware_interface/types/hardware_interface_return_values.hpp"
#include "lifecycle_msgs/msg/state.hpp"
#include "rclcpp/utilities.hpp"
#include "rclcpp/logging.hpp"
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
#include "test_joint_group_velocity_controller.hpp"

Expand All @@ -37,7 +38,9 @@ rclcpp::WaitResultKind wait_for(rclcpp::SubscriptionBase::SharedPtr subscription
rclcpp::WaitSet wait_set;
wait_set.add_subscription(subscription);
const auto timeout = std::chrono::seconds(10);
return wait_set.wait(timeout).kind();
auto ret = wait_set.wait(timeout).kind();
wait_set.remove_subscription(subscription);
return ret;
}
} // namespace

Expand Down Expand Up @@ -205,9 +208,11 @@ TEST_F(JointGroupVelocityControllerTest, CommandCallbackTest)

// wait for command message to be passed
ASSERT_EQ(wait_for(controller_->joints_command_subscriber_), rclcpp::WaitResultKind::Ready);
RCLCPP_INFO(controller_->get_node()->get_logger(), "message ready to be taken from subscription");

// process callbacks
rclcpp::spin_some(controller_->get_node()->get_node_base_interface());
RCLCPP_INFO(controller_->get_node()->get_logger(), "callback(s) processed");

// update successful
ASSERT_EQ(
Expand Down
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