From bf42a4e8a99abfa5c0770fde15b2f5825789f4fb Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Wed, 31 Jul 2024 10:22:42 +0200 Subject: [PATCH] Remove launch testing timeout marker (#552) * Increase cm update rate to decrease startup time * Remove startup delay marker --- example_10/bringup/config/rrbot_controllers.yaml | 2 +- example_10/test/test_rrbot_launch.py | 6 +----- 2 files changed, 2 insertions(+), 6 deletions(-) diff --git a/example_10/bringup/config/rrbot_controllers.yaml b/example_10/bringup/config/rrbot_controllers.yaml index 0211d44ef..3069ab8fa 100644 --- a/example_10/bringup/config/rrbot_controllers.yaml +++ b/example_10/bringup/config/rrbot_controllers.yaml @@ -1,6 +1,6 @@ controller_manager: ros__parameters: - update_rate: 1 # Hz + update_rate: 10 # Hz joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster diff --git a/example_10/test/test_rrbot_launch.py b/example_10/test/test_rrbot_launch.py index 9203d2f67..005ee36e8 100644 --- a/example_10/test/test_rrbot_launch.py +++ b/example_10/test/test_rrbot_launch.py @@ -38,7 +38,6 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource from launch_testing.actions import ReadyToTest -import launch_testing import rclpy from rclpy.node import Node from ros2_control_demo_testing.test_utils import ( @@ -50,11 +49,8 @@ # This function specifies the processes to be run for our test # The ReadyToTest action waits for 15 second by default for the processes to -# start, if processes take more time an error is thrown. We use decorator here -# to provide timeout duration of 20 second so that processes that take longer than -# 15 seconds can start up. +# start, if processes take more time an error is thrown. @pytest.mark.launch_test -@launch_testing.ready_to_test_action_timeout(20) def generate_test_description(): launch_include = IncludeLaunchDescription( PythonLaunchDescriptionSource(