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Disable parameter event publishers on test nodes #180

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Merged
merged 1 commit into from
Oct 23, 2019
Merged

Disable parameter event publishers on test nodes #180

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4 changes: 3 additions & 1 deletion rosbag2_test_common/include/rosbag2_test_common/publisher_manager.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,9 @@ class PublisherManager
const std::string & topic_name, std::shared_ptr<T> message, size_t expected_messages = 0)
{
auto node_name = std::string("publisher") + std::to_string(counter_++);
auto publisher_node = std::make_shared<rclcpp::Node>(node_name);
auto publisher_node = std::make_shared<rclcpp::Node>(
node_name,
rclcpp::NodeOptions().start_parameter_event_publisher(false));
auto publisher = publisher_node->create_publisher<T>(topic_name, 10);

publisher_nodes_.push_back(publisher_node);
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5 changes: 4 additions & 1 deletion rosbag2_test_common/include/rosbag2_test_common/subscription_manager.hpp
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Expand Up @@ -33,7 +33,10 @@ class SubscriptionManager
public:
SubscriptionManager()
{
subscriber_node_ = std::make_shared<rclcpp::Node>("subscriber_node");
subscriber_node_ = std::make_shared<rclcpp::Node>(
"subscriber_node",
rclcpp::NodeOptions().start_parameter_event_publisher(false)
);
}

template<typename MessageT>
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4 changes: 3 additions & 1 deletion rosbag2_transport/test/rosbag2_transport/test_record_all_no_discovery.cpp
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Expand Up @@ -27,7 +27,9 @@ TEST_F(RecordIntegrationTestFixture, record_all_without_discovery_ignores_later_
auto string_message = get_messages_strings()[0];
string_message->string_value = "Hello World";

auto publisher_node = std::make_shared<rclcpp::Node>("publisher_for_test");
auto publisher_node = std::make_shared<rclcpp::Node>(
"publisher_for_test",
rclcpp::NodeOptions().start_parameter_event_publisher(false));

start_recording({true, true, {}, "rmw_format", 1ms});

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4 changes: 3 additions & 1 deletion rosbag2_transport/test/rosbag2_transport/test_rosbag2_node.cpp
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Expand Up @@ -34,7 +34,9 @@ class RosBag2NodeFixture : public Test
RosBag2NodeFixture()
{
node_ = std::make_shared<rosbag2_transport::Rosbag2Node>("rosbag2");
publisher_node_ = std::make_shared<rclcpp::Node>("publisher_node");
publisher_node_ = std::make_shared<rclcpp::Node>(
"publisher_node",
rclcpp::NodeOptions().start_parameter_event_publisher(false));
}

static void SetUpTestCase()
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