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[rostest] Check /clock publication neatly in publishtest #973

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merged 3 commits into from
Jul 10, 2017
Merged

[rostest] Check /clock publication neatly in publishtest #973

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50c987d
Check /clock publication neatly in publishtest
wkentaro Feb 6, 2017
30a2959
Add comment explaining use of time.sleep.
mikepurvis Apr 25, 2017
4f026d9
Use logwarn_throttle not to flood the console
wkentaro Apr 30, 2017
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10 changes: 8 additions & 2 deletions tools/rostest/nodes/publishtest
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,7 @@ Author: Kentaro Wada <www.kentaro.wada@gmail.com>
"""

import sys
import time
import unittest

from nose.tools import assert_true
Expand Down Expand Up @@ -107,10 +108,15 @@ class PublishTest(unittest.TestCase):
def test_publish(self):
"""Test topics are published and messages come"""
use_sim_time = rospy.get_param('/use_sim_time', False)
while use_sim_time and (rospy.Time.now() == rospy.Time(0)):
t_start = time.time()
while not rospy.is_shutdown() and \
use_sim_time and (rospy.Time.now() == rospy.Time(0)):
rospy.logwarn('/use_sim_time is specified and rostime is 0, '
'/clock is published?')
rospy.sleep(0.1)
if time.time() - t_start > 10:
self.fail('Timed out (10s) of /clock publication.')
# must use time.sleep because /clock isn't yet published, so rospy.sleep hangs.
time.sleep(1)
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Why does it sleep for 1s now and not for 0.1s as before? I think it is valuable to continue quickly once the clock is available.

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In that case, the warning should only be printed once to avoid flooding the console unnecessarily.

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Either once or using the throttled logging functions to print it only every N seconds.

# subscribe topics
checkers = []
for topic in self.topics:
Expand Down