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use transient_local and longer keep-alive for pub tests #546

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merged 2 commits into from
Jul 6, 2020
Merged

use transient_local and longer keep-alive for pub tests #546

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9d9c1a0
use transient_local and longer keep-alive for pub tests
dirk-thomas Jun 30, 2020
f5cfb27
add comment to document unit of --keep-alive
dirk-thomas Jul 6, 2020
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6 changes: 4 additions & 2 deletions ros2topic/test/fixtures/listener_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@

import rclpy
from rclpy.node import Node
from rclpy.qos import qos_profile_system_default
from ros2topic.api import qos_profile_from_short_keys

from std_msgs.msg import String

Expand All @@ -25,8 +25,10 @@ class ListenerNode(Node):

def __init__(self):
super().__init__('listener')
qos_profile = qos_profile_from_short_keys(
'system_default', durability='transient_local')
self.sub = self.create_subscription(
String, 'chatter', self.callback, qos_profile_system_default
String, 'chatter', self.callback, qos_profile
)

def callback(self, msg):
Expand Down
13 changes: 12 additions & 1 deletion ros2topic/test/test_cli.py
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Original file line number Diff line number Diff line change
Expand Up @@ -559,7 +559,14 @@ def test_topic_echo_no_publisher(self):

def test_topic_pub(self):
with self.launch_topic_command(
arguments=['pub', '/chit_chatter', 'std_msgs/msg/String', '{data: foo}'],
arguments=[
'pub',
'--keep-alive', '3', # seconds
'--qos-durability', 'transient_local',
'/chit_chatter',
'std_msgs/msg/String',
'{data: foo}'
],
) as topic_command:
assert topic_command.wait_for_output(functools.partial(
launch_testing.tools.expect_output, expected_lines=[
Expand All @@ -579,6 +586,8 @@ def test_topic_pub_once(self):
with self.launch_topic_command(
arguments=[
'pub', '--once',
'--keep-alive', '3', # seconds
'--qos-durability', 'transient_local',
'/chit_chatter',
'std_msgs/msg/String',
'{data: bar}'
Expand All @@ -604,6 +613,8 @@ def test_topic_pub_print_every_two(self):
arguments=[
'pub',
'-p', '2',
'--keep-alive', '3', # seconds
'--qos-durability', 'transient_local',
'/chit_chatter',
'std_msgs/msg/String',
'{data: fizz}'
Expand Down