Reactivate tests for example_15 (#546) (#594)

* Revert "Deactivate failing tests for example_15" This reverts commit 0c3c978. * Remove RegisterEventHandlers (cherry picked from commit 8796c3b) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
ros-controls · Sep 29, 2024 · b6666a3 · b6666a3
1 parent 7add2f3
commit b6666a3
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Showing 3 changed files with 5 additions and 34 deletions.
diff --git 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()
 

diff --git a/example_15/bringup/launch/rrbot_base.launch.py b/example_15/bringup/launch/rrbot_base.launch.py
@@ -220,20 +220,11 @@ 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
@@ -128,32 +128,13 @@ 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)