Improve test stability (#363)

Wait until mcl_3dl node init.
at-wat · Dec 13, 2020 · c170897 · c170897
1 parent 9acc67d
commit c170897
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diff --git a/test/src/test_beam_label.cpp b/test/src/test_beam_label.cpp
@@ -175,6 +175,16 @@ class BeamLabel : public ::testing::Test
   void SetUp()
   {
     pub_init_.publish(generateInitialPose());
+    ros::Rate wait(10);
+    for (int i = 0; i < 100; i++)
+    {
+      wait.sleep();
+      ros::spinOnce();
+      if (pose_cov_)
+        break;
+      if (!ros::ok())
+        break;
+    }
   }
 
 public:

diff --git a/test/src/test_expansion_resetting.cpp b/test/src/test_expansion_resetting.cpp
@@ -213,6 +213,16 @@ class ExpansionResetting : public ::testing::Test
     ASSERT_TRUE(src_expansion_resetting_.waitForExistence(ros::Duration(10)));
 
     pub_init_.publish(generateInitialPose());
+    ros::Rate wait(10);
+    for (int i = 0; i < 100; i++)
+    {
+      wait.sleep();
+      ros::spinOnce();
+      if (pose_cov_)
+        break;
+      if (!ros::ok())
+        break;
+    }
   }
 
 public:

diff --git a/test/src/test_global_localization.cpp b/test/src/test_global_localization.cpp
@@ -206,6 +206,15 @@ TEST_P(GlobalLocalization, Localize)
   ros::Publisher pub_odom = nh.advertise<nav_msgs::Odometry>("odom", 1);
 
   pub_mapcloud.publish(generateMapMsg());
+  ros::Rate wait(10);
+  for (int i = 0; i < 100; i++)
+  {
+    wait.sleep();
+    ros::spinOnce();
+    if (poses)
+      break;
+    ASSERT_TRUE(ros::ok());
+  }
 
   for (float offset_x = -0.5; offset_x <= 0.51; offset_x += 1.0)
   {

diff --git a/test/src/test_landmark.cpp b/test/src/test_landmark.cpp
@@ -75,6 +75,7 @@ std::pair<float, float> getMean(const std::vector<geometry_msgs::Pose>& poses)
   return std::pair<float, float>(mean, root_mean);
 }
 }  // namespace
+
 TEST(Landmark, Measurement)
 {
   geometry_msgs::PoseArray::ConstPtr poses;
@@ -94,6 +95,16 @@ TEST(Landmark, Measurement)
 
   ros::Duration(1.0).sleep();
   pub_init.publish(generatePoseWithCov(2.0, 1.0));
+
+  ros::Rate wait(10);
+  for (int i = 0; i < 100; i++)
+  {
+    wait.sleep();
+    ros::spinOnce();
+    if (poses)
+      break;
+    ASSERT_TRUE(ros::ok());
+  }
   ros::Duration(0.1).sleep();
   ros::spinOnce();