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[CI] test_force_torque_sensor_broadcaster regularily times out (backport #1639) #1641

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[CI] test_force_torque_sensor_broadcaster regularily times out (backport #1639) #1641

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24 changes: 23 additions & 1 deletion force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -76,6 +76,12 @@ controller_interface::CallbackReturn ForceTorqueSensorBroadcaster::on_configure(
{
force_torque_sensor_ = std::make_unique<semantic_components::ForceTorqueSensor>(
semantic_components::ForceTorqueSensor(params_.sensor_name));

// TODO(juliaj): remove the logging after resolving
// https://github.com/ros-controls/ros2_controllers/issues/1574
RCLCPP_INFO(
get_node()->get_logger(), "Initialized force_torque_sensor with sensor name %s",
params_.sensor_name.c_str());
}
else
{
Expand All @@ -85,6 +91,14 @@ controller_interface::CallbackReturn ForceTorqueSensorBroadcaster::on_configure(
semantic_components::ForceTorqueSensor(
force_names.x, force_names.y, force_names.z, torque_names.x, torque_names.y,
torque_names.z));

// TODO(juliaj): remove the logging after resolving
// https://github.com/ros-controls/ros2_controllers/issues/1574
RCLCPP_INFO(
get_node()->get_logger(),
"Initialized force_torque_sensor with interface names %s, %s, %s, %s, %s, %s",
force_names.x.c_str(), force_names.y.c_str(), force_names.z.c_str(), torque_names.x.c_str(),
torque_names.y.c_str(), torque_names.z.c_str());
}

try
Expand All @@ -102,11 +116,19 @@ controller_interface::CallbackReturn ForceTorqueSensorBroadcaster::on_configure(
return controller_interface::CallbackReturn::ERROR;
}

// TODO(juliaj): remove the logging after resolving
// https://github.com/ros-controls/ros2_controllers/issues/1574
RCLCPP_INFO(get_node()->get_logger(), "Locking realtime publisher");
realtime_publisher_->lock();
RCLCPP_INFO(get_node()->get_logger(), "Locked realtime publisher");

realtime_publisher_->msg_.header.frame_id = params_.frame_id;

RCLCPP_INFO(get_node()->get_logger(), "Unlocking realtime publisher");
realtime_publisher_->unlock();
RCLCPP_INFO(get_node()->get_logger(), "Unlocked realtime publisher");

RCLCPP_DEBUG(get_node()->get_logger(), "configure successful");
RCLCPP_INFO(get_node()->get_logger(), "Configure successful");
return controller_interface::CallbackReturn::SUCCESS;
}

Expand Down
17 changes: 16 additions & 1 deletion force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,13 @@ void ForceTorqueSensorBroadcasterTest::SetUp()
fts_broadcaster_ = std::make_unique<FriendForceTorqueSensorBroadcaster>();
}

void ForceTorqueSensorBroadcasterTest::TearDown() { fts_broadcaster_.reset(nullptr); }
void ForceTorqueSensorBroadcasterTest::TearDown()
{
// TODO(juliaj): remove the logging after resolving
// https://github.com/ros-controls/ros2_controllers/issues/1574
RCLCPP_INFO(fts_broadcaster_->get_node()->get_logger(), "In TearDown");
fts_broadcaster_.reset(nullptr);
}

void ForceTorqueSensorBroadcasterTest::SetUpFTSBroadcaster()
{
Expand All @@ -67,6 +73,9 @@ void ForceTorqueSensorBroadcasterTest::SetUpFTSBroadcaster()
state_ifs.emplace_back(fts_torque_z_);

fts_broadcaster_->assign_interfaces({}, std::move(state_ifs));
// TODO(juliaj): remove the logging after resolving
// https://github.com/ros-controls/ros2_controllers/issues/1574
RCLCPP_INFO(fts_broadcaster_->get_node()->get_logger(), "FTSBroadcaster setup done");
}

void ForceTorqueSensorBroadcasterTest::subscribe_and_get_message(
Expand Down Expand Up @@ -181,13 +190,19 @@ TEST_F(ForceTorqueSensorBroadcasterTest, InterfaceNames_Configure_Success)
{
SetUpFTSBroadcaster();

// TODO(juliaj): remove the logging after resolving
// https://github.com/ros-controls/ros2_controllers/issues/1574
RCLCPP_INFO(fts_broadcaster_->get_node()->get_logger(), "Setting up interface names");

// set the 'interface_names'
fts_broadcaster_->get_node()->set_parameter({"interface_names.force.x", "fts_sensor/force.x"});
fts_broadcaster_->get_node()->set_parameter({"interface_names.torque.z", "fts_sensor/torque.z"});

RCLCPP_INFO(fts_broadcaster_->get_node()->get_logger(), "Setting up frame_id");
// set the 'frame_id'
fts_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_});

RCLCPP_INFO(fts_broadcaster_->get_node()->get_logger(), "Calling on_configure");
// configure passed
ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
}
Expand Down
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