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Wait for server to be ready in action client tests #685

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12 changes: 12 additions & 0 deletions rclcpp_action/test/test_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -273,6 +273,8 @@ TEST_F(TestClient, async_send_goal_but_ignore_feedback_and_result)
auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));

ASSERT_TRUE(action_client->wait_for_action_server(std::chrono::seconds(10)));
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@sloretz sloretz Apr 5, 2019

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Does adding 10 seconds to WAIT_FOR_SERVER_TIMEOUT on the line above this one also fix the issue?

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@jacobperron jacobperron Apr 5, 2019

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XD I didn't even see that.

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@jacobperron jacobperron Apr 5, 2019

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I'll try.

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@jacobperron jacobperron Apr 5, 2019

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So my grep skills failed me.

It looks like it is already waiting for 10 seconds... odd that an additional wait causes the tests to pass 🙁

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@jacobperron jacobperron Apr 5, 2019

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The tests were not actually waiting anywhere close to 10 seconds either.

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@jacobperron jacobperron Apr 5, 2019

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oooh, my bad. I was working off of the crystal branch, which is missing the wait calls.


ActionGoal bad_goal;
bad_goal.order = -5;
auto future_goal_handle = action_client->async_send_goal(bad_goal, nullptr, true);
Expand All @@ -295,6 +297,8 @@ TEST_F(TestClient, async_send_goal_and_ignore_feedback_but_wait_for_result)
auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));

ASSERT_TRUE(action_client->wait_for_action_server(std::chrono::seconds(10)));

ActionGoal goal;
goal.order = 5;
auto future_goal_handle = action_client->async_send_goal(goal);
Expand All @@ -317,6 +321,8 @@ TEST_F(TestClient, async_send_goal_with_feedback_and_result)
auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));

ASSERT_TRUE(action_client->wait_for_action_server(std::chrono::seconds(10)));

ActionGoal goal;
goal.order = 4;
int feedback_count = 0;
Expand Down Expand Up @@ -349,6 +355,8 @@ TEST_F(TestClient, async_cancel_one_goal)
auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));

ASSERT_TRUE(action_client->wait_for_action_server(std::chrono::seconds(10)));

ActionGoal goal;
goal.order = 5;
auto future_goal_handle = action_client->async_send_goal(goal, nullptr, true);
Expand All @@ -367,6 +375,8 @@ TEST_F(TestClient, async_cancel_all_goals)
auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));

ASSERT_TRUE(action_client->wait_for_action_server(std::chrono::seconds(10)));

ActionGoal goal;
goal.order = 6;
auto future_goal_handle0 = action_client->async_send_goal(goal, nullptr, true);
Expand Down Expand Up @@ -402,6 +412,8 @@ TEST_F(TestClient, async_cancel_some_goals)
auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));

ASSERT_TRUE(action_client->wait_for_action_server(std::chrono::seconds(10)));

ActionGoal goal;
goal.order = 6;
auto future_goal_handle0 = action_client->async_send_goal(goal, nullptr, true);
Expand Down