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Fix failing test
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JafarAbdi authored and henningkayser committed Apr 7, 2022
1 parent c95084e commit f8da951
Showing 1 changed file with 5 additions and 9 deletions.
14 changes: 5 additions & 9 deletions moveit_ros/planning/rdf_loader/test/test_rdf_integration.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -66,9 +66,6 @@ TEST(RDFIntegration, topic_based)
EXPECT_EQ("gonzo", loader.getSRDF()->getName());
}

// Failing in Jammy disabling temporarily (TODO (vatanaksoytezer): Fix this and enable again)
// See https://github.com/ros-planning/moveit2/issues/1156
/*
TEST(RDFIntegration, executor)
{
// RDFLoader should successfully load URDF and SRDF strings from a ROS topic when the node that is
Expand All @@ -77,11 +74,9 @@ TEST(RDFIntegration, executor)
rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("executor");

// Create a thread to spin an Executor.
std::thread([node]() {
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node);
executor.spin();
}).detach();
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node);
std::thread spinning_thread([&executor] { executor.spin(); });

// WHEN the RDFLoader is created
rdf_loader::RDFLoader loader(node, "topic_description");
Expand All @@ -91,8 +86,9 @@ TEST(RDFIntegration, executor)
EXPECT_EQ("gonzo", loader.getURDF()->name_);
ASSERT_NE(nullptr, loader.getSRDF());
EXPECT_EQ("gonzo", loader.getSRDF()->getName());
executor.cancel();
spinning_thread.join();
}
*/

TEST(RDFIntegration, xacro_test)
{
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