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joint_state_broadcaster: Add proper subscription to TestCustomInterfaceMappingUpdate #859

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merged 2 commits into from
Nov 27, 2023

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@christophfroehlich christophfroehlich commented Nov 26, 2023

As mentioned with #821, one tests of joint_state_broadcaster is flaky in the coverage build job. This is because the creation of the joint_state_msg is not ensured due to a failing trylock() when calling update() only once

if (realtime_joint_state_publisher_ && realtime_joint_state_publisher_->trylock())

I reused the wait set from other tests, which retries the update several times.

Unfortunately, I was not able to reproduce a failing test like in the CI, but this should fix #821 (other tests using the wait_set are not flaky).

@christophfroehlich christophfroehlich added backport-humble This label should be used by maintaines only! Label triggers PR backport to ROS2 humble. backport-iron This label should be used by maintaines only! Label triggers PR backport to ROS2 Iron. labels Nov 26, 2023
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codecov bot commented Nov 26, 2023

Codecov Report

Merging #859 (6c48ae2) into master (0d3fc52) will increase coverage by 0.44%.
The diff coverage is n/a.

Additional details and impacted files
@@            Coverage Diff             @@
##           master     #859      +/-   ##
==========================================
+ Coverage   44.88%   45.32%   +0.44%     
==========================================
  Files          40       40              
  Lines        3636     3636              
  Branches     1716     1716              
==========================================
+ Hits         1632     1648      +16     
+ Misses        832      817      -15     
+ Partials     1172     1171       -1     
Flag Coverage Δ
unittests 45.32% <ø> (+0.44%) ⬆️

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see 3 files with indirect coverage changes

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Thank you!

@bmagyar bmagyar merged commit fe0c91d into ros-controls:master Nov 27, 2023
12 of 15 checks passed
@christophfroehlich christophfroehlich deleted the jsb/update_tests branch November 27, 2023 11:32
mergify bot pushed a commit that referenced this pull request Nov 27, 2023
mergify bot pushed a commit that referenced this pull request Nov 27, 2023
bmagyar pushed a commit that referenced this pull request Nov 27, 2023
bmagyar pushed a commit that referenced this pull request Nov 27, 2023
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[CI] joint_state_broadcaster tests are flaky with coverage build
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