Merge branch 'master' into 133_pr_rebase_again

example_10/bringup/config/rrbot_controllers.yaml

@@ -1,6 +1,6 @@
 controller_manager:
   ros__parameters:
-    update_rate: 1  # Hz
+    update_rate: 10  # Hz
 
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster

example_10/test/test_rrbot_launch.py

@@ -38,7 +38,6 @@
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_testing.actions import ReadyToTest
 
-import launch_testing
 import rclpy
 from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
@@ -50,11 +49,8 @@
 
 # This function specifies the processes to be run for our test
 # The ReadyToTest action waits for 15 second by default for the processes to
-# start, if processes take more time an error is thrown. We use decorator here
-# to provide timeout duration of 20 second so that processes that take longer than
-# 15 seconds can start up.
+# start, if processes take more time an error is thrown.
 @pytest.mark.launch_test
-@launch_testing.ready_to_test_action_timeout(20)
 def generate_test_description():
     launch_include = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(

ros2_control_demo_testing/ros2_control_demo_testing/test_utils.py

@@ -68,7 +68,7 @@ def check_controllers_running(node, cnames, namespace=""):
         time.sleep(0.1)
     assert all(
         found.values()
-    ), f"Controller node(s) not found: {', '.join(["ns: " + namespace_api + ", ctrl:" + cname for cname, is_found in found.items() if not is_found])}, but seeing {node.get_node_names_and_namespaces()}"
+    ), f"Controller node(s) not found: {', '.join(['ns: ' + namespace_api + ', ctrl:' + cname for cname, is_found in found.items() if not is_found])}, but seeing {node.get_node_names_and_namespaces()}"
 
     found = {cname: False for cname in cnames}  # Define 'found' as a dictionary
     start = time.time()