diff --git a/rosbridge_library/test/capabilities/test_action_capabilities.py b/rosbridge_library/test/capabilities/test_action_capabilities.py index 2befdf1b..f1752c16 100755 --- a/rosbridge_library/test/capabilities/test_action_capabilities.py +++ b/rosbridge_library/test/capabilities/test_action_capabilities.py @@ -7,7 +7,7 @@ import rclpy from action_msgs.msg import GoalStatus from example_interfaces.action._fibonacci import Fibonacci_FeedbackMessage -from rclpy.executors import SingleThreadedExecutor +from rclpy.executors import MultiThreadedExecutor from rclpy.node import Node from rclpy.qos import DurabilityPolicy, QoSProfile, ReliabilityPolicy from rosbridge_library.capabilities.action_feedback import ActionFeedback @@ -25,7 +25,7 @@ class TestActionCapabilities(unittest.TestCase): def setUp(self): rclpy.init() - self.executor = SingleThreadedExecutor() + self.executor = MultiThreadedExecutor() self.node = Node("test_action_capabilities") self.executor.add_node(self.node) @@ -295,7 +295,6 @@ def test_cancel_advertised_action(self): self.assertEqual(self.received_message["values"]["sequence"], []) self.assertEqual(self.received_message["status"], GoalStatus.STATUS_CANCELED) - @unittest.skip("Currently raises an exception not catchable by unittest, need to fix this") def test_unadvertise_action(self): # Advertise the action action_path = "/fibonacci_action_4" @@ -340,8 +339,6 @@ def test_unadvertise_action(self): self.assertTrue("id" in self.received_message) # Now unadvertise the action - # TODO: This raises an exception, likely because of the following rclpy issue: - # https://github.com/ros2/rclpy/issues/1098 unadvertise_msg = loads(dumps({"op": "unadvertise_action", "action": action_path})) self.received_message = None self.unadvertise.unadvertise_action(unadvertise_msg)