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restore executor-based spinning in opennav_docking #5533

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Merged
SteveMacenski merged 1 commit into from
Sep 18, 2025
Merged

restore executor-based spinning in opennav_docking #5533

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43 changes: 29 additions & 14 deletions nav2_docking/opennav_docking/test/test_simple_charging_dock.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -86,6 +86,8 @@ TEST(SimpleChargingDockTests, BatteryState)

dock->configure(node, "my_dock", nullptr);
dock->activate();
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node->get_node_base_interface());
geometry_msgs::msg::PoseStamped pose;
EXPECT_TRUE(dock->getRefinedPose(pose, ""));

Expand All @@ -95,7 +97,7 @@ TEST(SimpleChargingDockTests, BatteryState)
pub->publish(msg);
rclcpp::Rate r(2);
r.sleep();
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();

EXPECT_FALSE(dock->isCharging());
EXPECT_TRUE(dock->hasStoppedCharging());
Expand All @@ -106,7 +108,7 @@ TEST(SimpleChargingDockTests, BatteryState)
pub->publish(msg2);
rclcpp::Rate r1(2);
r1.sleep();
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();

EXPECT_TRUE(dock->isCharging());
EXPECT_FALSE(dock->hasStoppedCharging());
Expand Down Expand Up @@ -139,6 +141,8 @@ TEST(SimpleChargingDockTests, StallDetection)
rclcpp::Parameter("my_dock.stall_joint_names", rclcpp::ParameterValue(names)));
dock->configure(node, "my_dock", nullptr);
dock->activate();
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node->get_node_base_interface());
EXPECT_EQ(dock->getStallJointNames(), names);

// Stopped, but below effort threshold
Expand All @@ -149,7 +153,7 @@ TEST(SimpleChargingDockTests, StallDetection)
pub->publish(msg);
rclcpp::Rate r(2);
r.sleep();
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();

EXPECT_FALSE(dock->isDocked());

Expand All @@ -161,7 +165,7 @@ TEST(SimpleChargingDockTests, StallDetection)
pub->publish(msg2);
rclcpp::Rate r1(2);
r1.sleep();
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();

EXPECT_FALSE(dock->isDocked());

Expand All @@ -173,7 +177,7 @@ TEST(SimpleChargingDockTests, StallDetection)
pub->publish(msg3);
rclcpp::Rate r2(2);
r2.sleep();
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();

EXPECT_TRUE(dock->isDocked());

Expand Down Expand Up @@ -245,6 +249,8 @@ TEST(SimpleChargingDockTests, RefinedPoseTest)
dock->configure(node, "my_dock", nullptr);
dock->activate();
dock->startDetectionProcess();
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node->get_node_base_interface());

geometry_msgs::msg::PoseStamped pose;

Expand All @@ -258,7 +264,7 @@ TEST(SimpleChargingDockTests, RefinedPoseTest)
detected_pose.pose.position.x = 0.1;
detected_pose.pose.position.y = -0.5;
pub->publish(detected_pose);
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();
std::this_thread::sleep_for(std::chrono::milliseconds(100));

pose.header.frame_id = "my_frame";
Expand Down Expand Up @@ -287,14 +293,16 @@ TEST(SimpleChargingDockTests, RefinedPoseNotTransform)

dock->configure(node, "my_dock", tf_buffer);
dock->activate();
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node->get_node_base_interface());

geometry_msgs::msg::PoseStamped detected_pose;
detected_pose.header.stamp = node->now();
detected_pose.header.frame_id = "my_frame";
detected_pose.pose.position.x = 1.0;
detected_pose.pose.position.y = 1.0;
pub->publish(detected_pose);
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();

// Create a pose with a different frame_id
geometry_msgs::msg::PoseStamped pose;
Expand Down Expand Up @@ -325,6 +333,8 @@ TEST(SimpleChargingDockTests, IsDockedTransformException)
dock->configure(node, "my_dock", tf_buffer);
dock->activate();
dock->startDetectionProcess();
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node->get_node_base_interface());

// Create a pose with a different frame_id
geometry_msgs::msg::PoseStamped pose;
Expand All @@ -347,7 +357,7 @@ TEST(SimpleChargingDockTests, IsDockedTransformException)
detected_pose.pose.position.x = 1.0;
detected_pose.pose.position.y = 1.0;
pub->publish(detected_pose);
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();

// Second call should succeed
EXPECT_TRUE(dock->getRefinedPose(pose, ""));
Expand Down Expand Up @@ -452,12 +462,14 @@ TEST(SimpleChargingDockTests, DetectorLifecycle)

dock->activate();
dock->startDetectionProcess();
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node->get_node_base_interface());
// Spin to process async service call
auto start_time = std::chrono::steady_clock::now();
while (!service_called &&
std::chrono::steady_clock::now() - start_time < std::chrono::seconds(2))
{
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();
std::this_thread::sleep_for(std::chrono::milliseconds(10));
}
EXPECT_TRUE(service_called);
Expand Down Expand Up @@ -502,19 +514,21 @@ TEST(SimpleChargingDockTests, SubscriptionCallback)
publisher->on_activate();

dock->startDetectionProcess();
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node->get_node_base_interface());

// Wait for the publisher and subscriber to connect.
int tries = 0;
while (publisher->get_subscription_count() == 0 && tries++ < 10) {
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();
std::this_thread::sleep_for(100ms);
}
ASSERT_GT(publisher->get_subscription_count(), 0);

// Publish a message to trigger the subscription callback.
publisher->publish(geometry_msgs::msg::PoseStamped{});
std::this_thread::sleep_for(50ms);
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();

// Verify the detector state was updated, proving the callback was executed.
EXPECT_TRUE(dock->isDetectorActive());
Expand Down Expand Up @@ -608,17 +622,18 @@ TEST(SimpleChargingDockTests, SubscriptionPersistent)
auto publisher = node->create_publisher<geometry_msgs::msg::PoseStamped>(
"detected_dock_pose", rclcpp::QoS(1));
publisher->on_activate();

rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node->get_node_base_interface());
int tries = 0;
while (publisher->get_subscription_count() == 0 && tries++ < 10) {
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();
std::this_thread::sleep_for(100ms);
}
ASSERT_GT(publisher->get_subscription_count(), 0);

publisher->publish(geometry_msgs::msg::PoseStamped{});
std::this_thread::sleep_for(50ms);
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();

// Verify the detector state changed, proving the callback was executed.
EXPECT_TRUE(dock->isDetectorActive());
Expand Down
36 changes: 25 additions & 11 deletions nav2_docking/opennav_docking/test/test_simple_non_charging_dock.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -99,6 +99,8 @@ TEST(SimpleNonChargingDockTests, StallDetection)
EXPECT_EQ(dock->getStallJointNames(), names);

dock->activate();
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node->get_node_base_interface());
geometry_msgs::msg::PoseStamped pose;
EXPECT_TRUE(dock->getRefinedPose(pose, ""));

Expand All @@ -110,7 +112,7 @@ TEST(SimpleNonChargingDockTests, StallDetection)
pub->publish(msg);
rclcpp::Rate r(2);
r.sleep();
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();

EXPECT_FALSE(dock->isDocked());

Expand All @@ -122,7 +124,7 @@ TEST(SimpleNonChargingDockTests, StallDetection)
pub->publish(msg2);
rclcpp::Rate r1(2);
r1.sleep();
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();

EXPECT_FALSE(dock->isDocked());

Expand All @@ -134,7 +136,7 @@ TEST(SimpleNonChargingDockTests, StallDetection)
pub->publish(msg3);
rclcpp::Rate r2(2);
r2.sleep();
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();

EXPECT_TRUE(dock->isDocked());

Expand Down Expand Up @@ -206,6 +208,8 @@ TEST(SimpleNonChargingDockTests, RefinedPoseTest)
dock->configure(node, "my_dock", nullptr);
dock->activate();
dock->startDetectionProcess();
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node->get_node_base_interface());

geometry_msgs::msg::PoseStamped pose;

Expand All @@ -219,7 +223,7 @@ TEST(SimpleNonChargingDockTests, RefinedPoseTest)
detected_pose.pose.position.x = 0.1;
detected_pose.pose.position.y = -0.5;
pub->publish(detected_pose);
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();
std::this_thread::sleep_for(std::chrono::milliseconds(100));

pose.header.frame_id = "my_frame";
Expand Down Expand Up @@ -248,14 +252,16 @@ TEST(SimpleNonChargingDockTests, RefinedPoseNotTransform)

dock->configure(node, "my_dock", tf_buffer);
dock->activate();
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node->get_node_base_interface());

geometry_msgs::msg::PoseStamped detected_pose;
detected_pose.header.stamp = node->now();
detected_pose.header.frame_id = "my_frame";
detected_pose.pose.position.x = 1.0;
detected_pose.pose.position.y = 1.0;
pub->publish(detected_pose);
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();

// Create a pose with a different frame_id
geometry_msgs::msg::PoseStamped pose;
Expand Down Expand Up @@ -286,6 +292,8 @@ TEST(SimpleNonChargingDockTests, IsDockedTransformException)
dock->configure(node, "my_dock", tf_buffer);
dock->activate();
dock->startDetectionProcess();
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node->get_node_base_interface());

// Create a pose with a different frame_id
geometry_msgs::msg::PoseStamped pose;
Expand All @@ -308,7 +316,7 @@ TEST(SimpleNonChargingDockTests, IsDockedTransformException)
detected_pose.pose.position.x = 1.0;
detected_pose.pose.position.y = 1.0;
pub->publish(detected_pose);
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();

// Second call should succeed
EXPECT_TRUE(dock->getRefinedPose(pose, ""));
Expand Down Expand Up @@ -413,12 +421,14 @@ TEST(SimpleNonChargingDockTests, DetectorLifecycle)

dock->activate();
dock->startDetectionProcess();
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node->get_node_base_interface());
// Spin to process async service call
auto start_time = std::chrono::steady_clock::now();
while (!service_called &&
std::chrono::steady_clock::now() - start_time < std::chrono::seconds(2))
{
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();
std::this_thread::sleep_for(std::chrono::milliseconds(10));
}
EXPECT_TRUE(service_called);
Expand Down Expand Up @@ -464,19 +474,21 @@ TEST(SimpleNonChargingDockTests, SubscriptionCallback)
publisher->on_activate();

dock->startDetectionProcess();
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node->get_node_base_interface());

// Wait for the publisher and subscriber to connect.
int tries = 0;
while (publisher->get_subscription_count() == 0 && tries++ < 10) {
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();
std::this_thread::sleep_for(100ms);
}
ASSERT_GT(publisher->get_subscription_count(), 0);

// Publish a message to trigger the subscription callback.
publisher->publish(geometry_msgs::msg::PoseStamped{});
std::this_thread::sleep_for(50ms);
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();

// Verify the detector state was updated, proving the callback was executed.
EXPECT_TRUE(dock->isDetectorActive());
Expand Down Expand Up @@ -567,6 +579,8 @@ TEST(SimpleNonChargingDockTests, SubscriptionPersistent)
auto dock = std::make_unique<SimpleNonChargingDockTestable>();
dock->configure(node, "my_dock", nullptr);
dock->activate();
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node->get_node_base_interface());

// The subscription should be active immediately after configuration.
auto publisher = node->create_publisher<geometry_msgs::msg::PoseStamped>(
Expand All @@ -575,14 +589,14 @@ TEST(SimpleNonChargingDockTests, SubscriptionPersistent)

int tries = 0;
while (publisher->get_subscription_count() == 0 && tries++ < 10) {
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();
std::this_thread::sleep_for(100ms);
}
ASSERT_GT(publisher->get_subscription_count(), 0);

publisher->publish(geometry_msgs::msg::PoseStamped{});
std::this_thread::sleep_for(50ms);
rclcpp::spin_some(node->get_node_base_interface());
executor.spin_some();

// Verify the detector state changed, proving the callback was executed.
EXPECT_TRUE(dock->isDetectorActive());
Expand Down
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