add delayed controller launch

rosbot_controller/test/test_multirobot_controllers.py

@@ -18,9 +18,10 @@
 import pytest
 import rclpy
 
+
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription
+from launch.actions import IncludeLaunchDescription, TimerAction
 from launch.substitutions import PathJoinSubstitution
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from test_utils import ControllersTestNode, controller_readings_test
@@ -46,12 +47,13 @@ def generate_test_description():
             launch_arguments={
                 "use_sim": "False",
                 "mecanum": "True",
-                "use_gpu": "False",
                 "namespace": robot_names[i],
             }.items(),
         )
 
-        actions.append(controller_launch)
+        # When there is no delay the controllers doesn't spawn correctly
+        delayed_controller_launch = TimerAction(period=i * 2.0, actions=[controller_launch])
+        actions.append(delayed_controller_launch)
 
     return LaunchDescription(actions)
 
@@ -66,7 +68,6 @@ def test_multirobot_controllers_startup_success():
             node.start_publishing_fake_hardware()
 
             node.start_node_thread()
-
             controller_readings_test(node, robot_name)
         finally:
             rclpy.shutdown()

rosbot_controller/test/test_utils.py

@@ -17,9 +17,7 @@
 
 from threading import Event
 from threading import Thread
-
 from rclpy.node import Node
-
 from sensor_msgs.msg import JointState, Imu
 from nav_msgs.msg import Odometry
 
@@ -46,10 +44,10 @@ def create_test_subscribers_and_publishers(self):
 
         self.imu_sub = self.create_subscription(Imu, "imu_broadcaster/imu", self.imu_callback, 10)
 
-        # TODO: @delipl namespaces have not been implemented in microros yet
-        self.imu_publisher = self.create_publisher(Imu, "/_imu/data_raw", 10)
+        # TODO: @delihus namespaces have not been implemented in microros yet
+        self.imu_pub = self.create_publisher(Imu, "/_imu/data_raw", 10)
 
-        self.joint_states_publisher = self.create_publisher(JointState, "/_motors_response", 10)
+        self.joint_pub = self.create_publisher(JointState, "/_motors_response", 10)
 
         self.timer = None
 
@@ -72,7 +70,7 @@ def start_publishing_fake_hardware(self):
             self.publish_fake_hardware_messages,
         )
 
-    # TODO: @delipl namespaces have not been implemented in microros yet
+    # TODO: @delihus namespaces have not been implemented in microros yet
     def publish_fake_hardware_messages(self):
         imu_msg = Imu()
         imu_msg.header.stamp = self.get_clock().now().to_msg()
@@ -89,22 +87,22 @@ def publish_fake_hardware_messages(self):
         joint_state_msg.position = [0.0, 0.0, 0.0, 0.0]
         joint_state_msg.velocity = [0.0, 0.0, 0.0, 0.0]
 
-        self.imu_publisher.publish(imu_msg)
-        self.joint_states_publisher.publish(joint_state_msg)
+        self.imu_pub.publish(imu_msg)
+        self.joint_pub.publish(joint_state_msg)
 
 
 def controller_readings_test(node, robot_name="ROSbot"):
-    msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0)
+    msgs_received_flag = node.joint_state_msg_event.wait(10.0)
     assert msgs_received_flag, (
-        f"{robot_name}: expected JointStates message but it was not received. Check"
-        " joint_state_broadcaster!"
+        f"{robot_name}: Expected JointStates message but it was not received. Check "
+        "joint_state_broadcaster!"
     )
-    msgs_received_flag = node.odom_msg_event.wait(timeout=10.0)
+    msgs_received_flag = node.odom_msg_event.wait(10.0)
     assert msgs_received_flag, (
-        f"{robot_name}: expected Odom message but it was not received. Check"
-        " rosbot_base_controller!"
+        f"{robot_name}: Expected Odom message but it was not received. Check "
+        "rosbot_base_controller!"
     )
-    msgs_received_flag = node.imu_msg_event.wait(timeout=10.0)
+    msgs_received_flag = node.imu_msg_event.wait(10.0)
     assert (
         msgs_received_flag
-    ), f"{robot_name}: expected Imu message but it was not received. Check imu_broadcaster!"
+    ), f"{robot_name}: Expected Imu message but it was not received. Check imu_broadcaster!"