[DO NOT MERGE]: Debugging via the Rpr job for https://github.com/ros2/rosbag2/pull/1796 #1803
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This has almost exactly the same functionality as wait_for_condition, except for two things: 1. It is templated on the Timeout type. 2. It calls rclcpp::shutdown after the loop completes. However, neither of those is necessary; all callers to it use a std::chrono::duration, and all of the test fixtures already call rclcpp::shutdown. Thus, just remove it and make all callers use wait_for_condition instead. Signed-off-by: Chris Lalancette <[email protected]>
That is, we really don't actually want to do a full rclcpp shutdown here; we only want to stop spinning. Accomplish that with an executor, and timing out every 100 milliseconds to check if we are done yet. Signed-off-by: Chris Lalancette <[email protected]>
Make sure it only spins as long as we haven't shutdown, and that it wakes up every so often to check that fact. Signed-off-by: Chris Lalancette <[email protected]>
The main reason for that is that these tests generally want to test certain expectations around how many messages were received. However, if discovery takes longer than we expect, then it could be the case that we "missed" messages at the beginning because discovery hadn't yet completed. Fix this by just waiting around for the recorder to get all the subscriptions it expects before moving on with the test. Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Co-authored-by: Michael Orlov <[email protected]> Signed-off-by: Chris Lalancette <[email protected]>
That's because there is currently at least one bug associated with spin_some in rclcpp. However, it turns out that we don't even need to use it, as we can just as easily use spin() along with exec.cancel(). Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
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Closing this, since we found another way to reproduce. |
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This is just using a separate PR to debug via the Rpr job. This is never meant to be merged; I'm just using the Rpr job here since I cannot reproduce the bug locally. I'll eventually close this and delete this branch.