ci: update 3d reconstruction test timing and QoS

Author: Apolo151

test/test_3d_reconstruction.py

@@ -51,7 +51,7 @@ def setUpClass(cls):
         cls.node = rclpy.create_node("test_node")
 
         # wait for topics to be setup
-        time.sleep(30)
+        time.sleep(10)
 
     @classmethod
     def tearDownClass(cls):
@@ -68,6 +68,14 @@ def tearDownClass(cls):
     def test_camera_topics(self, proc_output):
         """Test that camera topics are publishing msgs."""
 
+        # Set appropriate QoS for sensor data
+        sensor_qos = rclpy.qos.QoSProfile(
+            reliability=rclpy.qos.ReliabilityPolicy.BEST_EFFORT,
+            durability=rclpy.qos.DurabilityPolicy.VOLATILE,
+            history=rclpy.qos.HistoryPolicy.KEEP_LAST,
+            depth=10,
+        )
+
         msgs_left = []
         msgs_right = []
 
@@ -76,18 +84,18 @@ def test_camera_topics(self, proc_output):
             CameraInfo,
             "/cam_turtlebot_left/camera_info",
             lambda msg: msgs_left.append(msg),
-            10,
+            qos_profile=sensor_qos,
         )
 
         sub_right = self.__class__.node.create_subscription(
             CameraInfo,
             "/cam_turtlebot_right/camera_info",
             lambda msg: msgs_right.append(msg),
-            10,
+            qos_profile=sensor_qos,
         )
 
-        # Wait for messages (up to 5 seconds)
-        for _ in range(50):  # 50 x 0.1 seconds = 5 seconds
+        # Wait for messages (up to 10 seconds)
+        for _ in range(100):  # 100 x 0.1 seconds = 10 seconds
             rclpy.spin_once(self.__class__.node, timeout_sec=0.1)
             if msgs_left and msgs_right:
                 break
@@ -105,6 +113,14 @@ def test_camera_topics(self, proc_output):
     def test_camera_images(self, proc_output):
         """Test that camera images are published."""
 
+        # Set appropriate QoS for sensor data
+        sensor_qos = rclpy.qos.QoSProfile(
+            reliability=rclpy.qos.ReliabilityPolicy.BEST_EFFORT,
+            durability=rclpy.qos.DurabilityPolicy.VOLATILE,
+            history=rclpy.qos.HistoryPolicy.KEEP_LAST,
+            depth=10,
+        )
+
         # Check actual message receipt
         msgs_left = []
         msgs_right = []
@@ -114,18 +130,18 @@ def test_camera_images(self, proc_output):
             Image,
             "/cam_turtlebot_left/image_raw",
             lambda msg: msgs_left.append(msg),
-            10,
+            qos_profile=sensor_qos,
         )
 
         sub_right = self.__class__.node.create_subscription(
             Image,
             "/cam_turtlebot_right/image_raw",
             lambda msg: msgs_right.append(msg),
-            10,
+            qos_profile=sensor_qos,
         )
 
-        # Wait for messages (up to 5 seconds)
-        for _ in range(50):  # 50 x 0.1 seconds =
+        # Wait for messages (up to 10 seconds)
+        for _ in range(100):  # 100 x 0.1 seconds = 10 seconds
             rclpy.spin_once(self.__class__.node, timeout_sec=0.1)
             if msgs_left and msgs_right:
                 break