make every rospy test assign Subscriber to a variable- think this is …

…needed but not sure

clients/rospy/src/rospy/numpy_msg.py

@@ -41,7 +41,7 @@
     from rospy.numpy_msg import numpy_msg
 
     rospy.init_node('mynode')
-    rospy.Subscriber("mytopic", numpy_msg(TopicType)
+    sub = rospy.Subscriber("mytopic", numpy_msg(TopicType)
 
 Publisher example::
 

clients/rospy/src/rospy/rosconsole.py

@@ -165,7 +165,7 @@ def __init__(self, options):
         self._level_string_map = {getattr(Log, level): self._stringify(level) for level in self.LEVEL_COLOR.keys()}
 
         callback = self._once_callback if options.once else self._callback
-        rospy.Subscriber(options.topic, Log, callback)
+        self._sub = rospy.Subscriber(options.topic, Log, callback)
 
     def _stringify(self, level):
         string = level.ljust(RosConsoleEcho.LEVEL_MAX_LENGTH)

clients/rospy/test_nodes/listener.py

@@ -51,7 +51,7 @@ def listener():
     # run simultaneously.
     rospy.init_node('listener', anonymous=True)
 
-    rospy.Subscriber("chatter", String, callback)
+    sub = rospy.Subscriber("chatter", String, callback)
 
     # spin() simply keeps python from exiting until this node is stopped
     rospy.spin()

test/test_rospy/nodes/listener_once.py

@@ -45,7 +45,7 @@ def callback(data):
 def listener():
     rospy.init_node('listener', anonymous=True)
     rospy.sleep(rospy.get_param('delay', 0.0))
-    rospy.Subscriber("chatter", String, callback)
+    sub = rospy.Subscriber("chatter", String, callback)
     rospy.spin()
 
 

test/test_rospy/nodes/listenerpublisher.py

@@ -58,7 +58,7 @@ def callback(data):
 
 def listener():
     rospy.init_node("listenerpublisher")
-    rospy.Subscriber("chatter", String, callback)
+    sub = rospy.Subscriber("chatter", String, callback)
     rospy.spin()
 
 if __name__ == '__main__':

test/test_rospy/nodes/listenerpublisher_embed.py

@@ -59,7 +59,7 @@ def callback(data):
 
 def listener():
     rospy.init_node("listenerpublisher_embed")
-    rospy.Subscriber("chatter", EmbedTest, callback)
+    sub = rospy.Subscriber("chatter", EmbedTest, callback)
     rospy.spin()
 
 if __name__ == '__main__':

test/test_rospy/test/rostest/test_embed_msg.py

@@ -80,7 +80,7 @@ def test_embed_msg(self):
 
         print("Publishing to ", PUBTOPIC)
         pub = rospy.Publisher(PUBTOPIC, MSG, queue_size=0)
-        rospy.Subscriber(LPTOPIC, MSG, self._test_embed_msg_callback) 
+        sub = rospy.Subscriber(LPTOPIC, MSG, self._test_embed_msg_callback)
 
         # publish about 10 messages for fun
         import random

test/test_rospy/test/rostest/test_node.py

@@ -72,10 +72,10 @@ def test_node():
     header_out = rospy.Publisher("test_header_out", test_rosmaster.msg.TestHeader, queue_size=0)
 
     #required subs
-    rospy.Subscriber("test_string_in", test_rosmaster.msg.TestString, chain_callback(string_out))
-    rospy.Subscriber("test_primitives_in", test_rosmaster.msg.TestPrimitives, chain_callback(primitives_out))
-    rospy.Subscriber("test_arrays_in", test_rosmaster.msg.TestArrays, chain_callback(arrays_out))
-    rospy.Subscriber("test_header_in", test_rosmaster.msg.TestHeader, chain_callback(header_out))
+    sub0 = rospy.Subscriber("test_string_in", test_rosmaster.msg.TestString, chain_callback(string_out))
+    sub1 = rospy.Subscriber("test_primitives_in", test_rosmaster.msg.TestPrimitives, chain_callback(primitives_out))
+    sub2 = rospy.Subscriber("test_arrays_in", test_rosmaster.msg.TestArrays, chain_callback(arrays_out))
+    sub3 = rospy.Subscriber("test_header_in", test_rosmaster.msg.TestHeader, chain_callback(header_out))
 
     # subscription with no publisher
     probe_in = rospy.Subscriber("probe_topic", test_rosmaster.msg.TestString)

test/test_rospy/test/rostest/test_on_shutdown.py

@@ -59,7 +59,7 @@ def callback(self, data):
             self.success = True
 
     def test_notify(self):
-        rospy.Subscriber("chatter", String, self.callback)
+        sub = rospy.Subscriber("chatter", String, self.callback)
         rospy.init_node(NAME, anonymous=True)
         timeout_t = time.time() + 10.0*1000 #10 seconds
         while not rospy.is_shutdown() and not self.success and time.time() < timeout_t:

test/test_rospy/test/rostest/test_pubsub_order.py

@@ -80,7 +80,7 @@ def test_subscriber_first(self):
 
         print("Publishing to ", PUBTOPIC)
         pub = rospy.Publisher(PUBTOPIC, MSG, queue_size=0)
-        rospy.Subscriber(LPTOPIC, MSG, self._test_subscriber_first_callback) 
+        sub = rospy.Subscriber(LPTOPIC, MSG, self._test_subscriber_first_callback)
 
         # publish about 10 messages for fun
         import random

tools/rosnode/test_nodes/listener.py

@@ -51,7 +51,7 @@ def listener():
     # run simultaneously.
     rospy.init_node('listener', anonymous=True)
 
-    rospy.Subscriber("chatter", String, callback)
+    sub = rospy.Subscriber("chatter", String, callback)
 
     # spin() simply keeps python from exiting until this node is stopped
     rospy.spin()

tools/rostopic/src/rostopic/__init__.py

@@ -310,9 +310,9 @@ def _rostopic_hz(topics, window_size=-1, filter_expr=None, use_wtime=False, tcp_
         # may parameterize this in the future
         if filter_expr is not None:
             # have to subscribe with topic_type
-            rospy.Subscriber(real_topic, msg_class, rt.callback_hz, callback_args=topic, tcp_nodelay=tcp_nodelay)
+            sub = rospy.Subscriber(real_topic, msg_class, rt.callback_hz, callback_args=topic, tcp_nodelay=tcp_nodelay)
         else:
-            rospy.Subscriber(real_topic, rospy.AnyMsg, rt.callback_hz, callback_args=topic, tcp_nodelay=tcp_nodelay)
+            sub = rospy.Subscriber(real_topic, rospy.AnyMsg, rt.callback_hz, callback_args=topic, tcp_nodelay=tcp_nodelay)
         print("subscribed to [%s]" % real_topic)
 
     if rospy.get_param('use_sim_time', False):

tools/rostopic/test/check_rostopic_command_line_online.py

@@ -69,8 +69,9 @@ def test_rostopic(self):
         topics = self.topics
         cmd = self.cmd
 
+        subs = {}
         for i, t in enumerate(topics):
-            rospy.Subscriber(t, std_msgs.msg.String, self.callback, i)
+            subs[i] = rospy.Subscriber(t, std_msgs.msg.String, self.callback, i)
 
         timeout_t = time.time() + 10.0
         while time.time() < timeout_t and set(topics) != set(self.msgs.keys()):

utilities/roswtf/src/roswtf/graph.py

@@ -176,7 +176,7 @@ def topic_timestamp_drift(ctx, t):
     #TODO: get msg_class, if msg_class has header, receive a message
     # and compare its time to ros time
     if 0:
-        rospy.Subscriber(t, msg_class)
+        sub = rospy.Subscriber(t, msg_class)
 
 #TODO: these are mainly future enhancements. It's unclear to me whether or not this will be
 #useful as most of the generic rules are capable of targeting these problems as well.