Comments (4)
pbaughman
commented on July 30, 2024
Something similar happens with test_record_all_no_discovery.cpp if I run the test in a loop in parallel with
colcon test --packages-select rcl
but that may be a different failure - I don't see messages about rosbag2 subscribing to extra topics
Running main() from gmock_main.cc
[==========] Running 1 test from 1 test case.
[----------] Global test environment set-up.
[----------] 1 test from RecordIntegrationTestFixture
[ RUN ] RecordIntegrationTestFixture.record_all_without_discovery_ignores_later_announced_topics
[INFO] [rosbag2_transport]: Listening for topics...
[INFO] [rosbag2_transport]: Subscribed to topic '/parameter_events'
/workspace/src/rosbag2/rosbag2_transport/test/rosbag2_transport/test_record_all_no_discovery.cpp:41: Failure
Value of: writer_->get_messages()
Expected: size is equal to 0
Actual: { 16-byte object <10-E6 3E-E1 79-7F 00-00 00-E6 3E-E1 79-7F 00-00> }, whose size 1 doesn't match
[ FAILED ] RecordIntegrationTestFixture.record_all_without_discovery_ignores_later_announced_topics (240 ms)
[----------] 1 test from RecordIntegrationTestFixture (240 ms total)
[----------] Global test environment tear-down
[==========] 1 test from 1 test case ran. (240 ms total)
[ PASSED ] 0 tests.
[ FAILED ] 1 test, listed below:
[ FAILED ] RecordIntegrationTestFixture.record_all_without_discovery_ignores_later_announced_topics
1 FAILED TEST
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pbaughman
commented on July 30, 2024
I've made some progress fixing test_record_all by doing:
- ASSERT_THAT(recorded_messages, SizeIs(4));
+ ASSERT_GE(recorded_messages.size(), 4u);
auto string_messages = filter_messages<test_msgs::msg::Primitives>(
recorded_messages, string_topic);
auto array_messages = filter_messages<test_msgs::msg::StaticArrayPrimitives>(
recorded_messages, array_topic);
- ASSERT_THAT(string_messages, SizeIs(2));
- ASSERT_THAT(array_messages, SizeIs(2));
- EXPECT_THAT(string_messages[0]->string_value, Eq("Hello World"));
- EXPECT_THAT(array_messages[0]->bool_values, ElementsAre(true, false, true));
- EXPECT_THAT(array_messages[0]->string_values,
- ElementsAre("Complex Hello1", "Complex Hello2", "Complex Hello3"));
+ ASSERT_GE(string_messages.size(), 2u);
+ ASSERT_GE(array_messages.size(), 2u);
+
+
+ EXPECT_THAT(
+ string_messages,
+ UnorderedElementsAre(
+ Pointee(Field(&test_msgs::msg::Primitives::string_value, Eq("Hello World"))),
+ Pointee(Field(&test_msgs::msg::Primitives::string_value, Eq("Hello World")))
+ )
+ );
+
+ EXPECT_THAT(
+ array_messages,
+ UnorderedElementsAre(
+ Pointee(
+ Field(
+ &test_msgs::msg::StaticArrayPrimitives::bool_values,
+ ElementsAre(true, false, true)
+ )
+ ),
+ Pointee(
+ Field(
+ &test_msgs::msg::StaticArrayPrimitives::bool_values,
+ ElementsAre(true, false, true)
+ )
+ )
+ )
+ );
+
+ EXPECT_THAT(
+ array_messages,
+ UnorderedElementsAre(
+ Pointee(
+ Field(
+ &test_msgs::msg::StaticArrayPrimitives::string_values,
+ ElementsAre("Complex Hello1", "Complex Hello2", "Complex Hello3")
+ )
+ ),
+ Pointee(
+ Field(
+ &test_msgs::msg::StaticArrayPrimitives::string_values,
+ ElementsAre("Complex Hello1", "Complex Hello2", "Complex Hello3")
+ )
+ )
+ )
+ );
But the interference goes both ways. The rcl test test_get_node_names for example does not like to run at the same time as the rosbag2 tests
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Karsten1987
commented on July 30, 2024
I believe it makes sense to have the rosbag2 tests run more robustly, but tests in general will always be subject to parallel execution when testing discovery behavior.
In this case I assume it's fine to prefix topics, or namespace them, so avoid duplication and assert correctly to see that we have the right topics present.
I am happy to review a PR for this.
Could we make the test assert that size of the recorded messages is 4 in case some other topics got sampled?
I believe we can do this, but should further assert then that these are indeed the right messages. That is to verify that all received messages are coming from the test.
Is there a way to namespace the topics that the test is recording?
I believe that's the right approach to avoid duplication.
Related: can we tell rosbag2 to only record from /array_topic and /string_topic?
We can tell that and I actually believe there is already a test for this. One of them being here:
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pbaughman
commented on July 30, 2024
@Karsten1987 I got about halfway done with fixing this before I realized that the interference goes both ways. Initially I (naively) thought that other tests were making rosbag2 tests fail, but that rosbag2 testss didn't make other tests fail. This assumption is wrong.
I'm considering a more general approach now where we can use ROS_DOMAIN_ID or something else to isolate parallel tests from one-another. I'm going to close this issue for now because while I'm confident we can 'fix' the rosbag2 tests, it will be very time consuming and maintenance heavy.
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