Improve the node_name test. (#538)

We do a few things here:

1.  Minor style updates, just to make the code easier to read.
2.  Increase the timeout for finding the node from 10 seconds
    to 15 seconds.
3.  Change the call to the executor from spin_once to spin_some.
    This means that we'll give the executor more opportunity to
    do work, which may increase the chances of success.

Signed-off-by: Chris Lalancette <[email protected]>

test_rclcpp/test/node_name_list.cpp

@@ -12,7 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <chrono>
+#include <cstdio>
+#include <iostream>
 #include <string>
+#include <vector>
 
 #include "rclcpp/rclcpp.hpp"
 
@@ -40,19 +44,19 @@ int main(int argc, char ** argv)
 
   int rc = 1;
   const std::chrono::steady_clock::time_point max_runtime =
-    std::chrono::steady_clock::now() + 10s;
+    std::chrono::steady_clock::now() + 15s;
   while (rc && rclcpp::ok()) {
-    auto names = node->get_node_graph_interface()->get_node_names();
-    for (auto it : names) {
-      printf("- %s\n", it.c_str());
+    std::vector<std::string> names = node->get_node_names();
+    for (const std::string & name : names) {
+      printf("- %s\n", name.c_str());
 
-      if (it.empty()) {
+      if (name.empty()) {
         printf("  found an empty named node, which is unexpected\n");
         rc = 2;
         break;
       }
 
-      if (argc >= 2 && it.compare(name_to_find) == 0) {
+      if (argc >= 2 && name.compare(name_to_find) == 0) {
         printf("  found expected node name\n");
         rc = 0;
       }
@@ -61,7 +65,7 @@ int main(int argc, char ** argv)
     if (std::chrono::steady_clock::now() >= max_runtime) {
       break;
     }
-    exec.spin_once(250ms);
+    exec.spin_some(250ms);
   }
 
   exec.remove_node(node);

test_rclcpp/test/node_with_name.cpp

@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <cstdio>
+#include <iostream>
 #include <string>
 
 #include "rclcpp/rclcpp.hpp"
@@ -30,15 +32,13 @@ int main(int argc, char ** argv)
 
   rclcpp::Node::SharedPtr node;
   try {
-    node = rclcpp::Node::make_shared(node_name);
-  } catch (rclcpp::exceptions::RCLError & e) {
+    rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared(node_name);
+    rclcpp::spin(node);
+  } catch (const rclcpp::exceptions::RCLError & e) {
     // test may pass and send SIGINT before node finishes initializing ros2/build_cop#153
     printf("Ignoring RCLError: %s\n", e.what());
   }
 
-  if (node) {
-    rclcpp::spin(node);
-  }
   rclcpp::shutdown();
   return 0;
 }