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Merged
sloretz merged 1 commit into from
May 25, 2018
Merged

Parameter services automatically start #270

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14 changes: 0 additions & 14 deletions test_rclcpp/test/test_local_parameters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -66,8 +66,6 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), to_string) {

TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous) {
auto node = rclcpp::Node::make_shared("test_parameters_local_synchronous");
// TODO(esteve): Make the parameter service automatically start with the node.
auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);
auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
if (!parameters_client->wait_for_service(20s)) {
ASSERT_TRUE(false) << "service not available after waiting";
Expand All @@ -78,8 +76,6 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous) {

TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous_repeated) {
auto node = rclcpp::Node::make_shared("test_parameters_local_synchronous_repeated");
// TODO(esteve): Make the parameter service automatically start with the node.
auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);
auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
if (!parameters_client->wait_for_service(20s)) {
ASSERT_TRUE(false) << "service not available after waiting";
Expand All @@ -93,8 +89,6 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous_rep

TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_asynchronous) {
auto node = rclcpp::Node::make_shared(std::string("test_parameters_local_asynchronous"));
// TODO(esteve): Make the parameter service automatically start with the node.
auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);
auto parameters_client = std::make_shared<rclcpp::AsyncParametersClient>(node);
if (!parameters_client->wait_for_service(20s)) {
ASSERT_TRUE(false) << "service not available after waiting";
Expand Down Expand Up @@ -145,8 +139,6 @@ class ParametersAsyncNode : public rclcpp::Node
// go out of scope before it gets called: see https://github.com/ros2/rclcpp/pull/414
TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_async_with_callback) {
auto node = std::make_shared<ParametersAsyncNode>();
// TODO(esteve): Make the parameter service automatically start with the node.
auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);
if (!node->parameters_client_->wait_for_service(20s)) {
ASSERT_TRUE(false) << "service not available after waiting";
}
Expand All @@ -159,8 +151,6 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_async_with_call

TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), helpers) {
auto node = rclcpp::Node::make_shared("test_parameters_local_helpers");
// TODO(esteve): Make the parameter service automatically start with the node.
auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);
auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
if (!parameters_client->wait_for_service(20s)) {
ASSERT_TRUE(false) << "service not available after waiting";
Expand Down Expand Up @@ -264,8 +254,6 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), helpers) {

TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_primitive_type) {
auto node = rclcpp::Node::make_shared("test_parameters_local_helpers");
// TODO(esteve): Make the parameter service automatically start with the node.
auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);
auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
if (!parameters_client->wait_for_service(20s)) {
ASSERT_TRUE(false) << "service not available after waiting";
Expand Down Expand Up @@ -331,8 +319,6 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_variant
using rclcpp::parameter::ParameterVariant;

auto node = rclcpp::Node::make_shared("test_parameters_local_helpers");
// TODO(esteve): Make the parameter service automatically start with the node.
auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);
auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
if (!parameters_client->wait_for_service(20s)) {
ASSERT_TRUE(false) << "service not available after waiting";
Expand Down
3 changes: 0 additions & 3 deletions test_rclcpp/test/test_parameters_server.cpp
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Expand Up @@ -27,9 +27,6 @@ int main(int argc, char ** argv)

auto node = rclcpp::Node::make_shared(std::string("test_parameters_server"));

// TODO(esteve): Make the parameter service automatically start with the node.
auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);

rclcpp::spin(node);

rclcpp::shutdown();
Expand Down