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fix: QoS mismatch in tests #28

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Merged
xiyuoh merged 2 commits into from
Jul 3, 2026
Merged

fix: QoS mismatch in tests #28

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af8c1a3
Fix QoS durability mismatches in integration tests
arjo129 Jul 3, 2026
f29d624
CI: Run tests sequentially to avoid DDS interference
arjo129 Jul 3, 2026
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2 changes: 1 addition & 1 deletion .github/workflows/ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,6 @@ jobs:
run: |
source /opt/ros/jazzy/setup.bash
source install/setup.bash
colcon test --packages-select rmf_path_server_test rmf_reservation_tests --event-handlers console_direct+
colcon test --executor sequential --packages-select rmf_path_server_test rmf_reservation_tests --event-handlers console_direct+
colcon test-result --all
shell: bash
38 changes: 26 additions & 12 deletions path_server/rmf_path_server_test/test/test_path_server_follow.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@
from nav_msgs.msg import Odometry
import pytest
import rclpy
from rclpy.qos import DurabilityPolicy, HistoryPolicy, QoSProfile
from rclpy.qos import DurabilityPolicy, HistoryPolicy, QoSProfile, ReliabilityPolicy
from rmf_prototype_msgs.msg import (
Destination,
DestinationConstraints,
Expand Down Expand Up @@ -131,6 +131,13 @@ def test_follow_scenario(self):
r2_positions = []
trajectory = []

reliable_transient_qos = QoSProfile(
depth=10,
durability=DurabilityPolicy.TRANSIENT_LOCAL,
history=HistoryPolicy.KEEP_LAST,
reliability=ReliabilityPolicy.RELIABLE,
)

def r1_odom_cb(msg):
x = msg.pose.pose.position.x
y = msg.pose.pose.position.y
Expand Down Expand Up @@ -167,26 +174,33 @@ def r2_plan_cb(msg):
f'progress {wp.progress}, blockers: {blockers}'
)

self.node.create_subscription(Odometry, 'robot_1/odom', r1_odom_cb, 10)
self.node.create_subscription(Odometry, 'robot_2/odom', r2_odom_cb, 10)
self.node.create_subscription(Plan, 'robot_1/plan', r1_plan_cb, 10)
self.node.create_subscription(Plan, 'robot_2/plan', r2_plan_cb, 10)
self.node.create_subscription(
Odometry, 'robot_1/odom', r1_odom_cb,
qos_profile=reliable_transient_qos
)
self.node.create_subscription(
Odometry, 'robot_2/odom', r2_odom_cb,
qos_profile=reliable_transient_qos
)
self.node.create_subscription(
Plan, 'robot_1/plan', r1_plan_cb,
qos_profile=reliable_transient_qos
)
self.node.create_subscription(
Plan, 'robot_2/plan', r2_plan_cb,
qos_profile=reliable_transient_qos
)

# Publishers for destinations
dest_qos = QoSProfile(
depth=10,
durability=DurabilityPolicy.TRANSIENT_LOCAL,
history=HistoryPolicy.KEEP_LAST
)
r1_dest_pub = self.node.create_publisher(
Destination,
'robot_1/destination',
qos_profile=dest_qos
qos_profile=reliable_transient_qos
)
r2_dest_pub = self.node.create_publisher(
Destination,
'robot_2/destination',
qos_profile=dest_qos
qos_profile=reliable_transient_qos
)

# Discovery publisher
Expand Down
22 changes: 12 additions & 10 deletions reservation_system/rmf_reservation_tests/test/test_overlap.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@
import launch_testing
import pytest
import rclpy
from rclpy.qos import DurabilityPolicy, HistoryPolicy, QoSProfile
from rclpy.qos import DurabilityPolicy, HistoryPolicy, QoSProfile, ReliabilityPolicy
from rmf_prototype_msgs.msg import (
Destination,
DestinationConstraints,
Expand Down Expand Up @@ -86,29 +86,31 @@ def test_overlapping_reservation(self):
r1_received = []
r2_errors = []

reliable_transient_qos = QoSProfile(
depth=10,
durability=DurabilityPolicy.TRANSIENT_LOCAL,
history=HistoryPolicy.KEEP_LAST,
reliability=ReliabilityPolicy.RELIABLE,
)

self.node.create_subscription(
Destination,
f'{r1_name}/destination',
lambda msg: r1_received.append(msg),
10,
qos_profile=reliable_transient_qos,
)
self.node.create_subscription(
DestinationError,
f'{r2_name}/destination/error',
lambda msg: r2_errors.append(msg),
10,
qos_profile=reliable_transient_qos,
)

goal_qos = QoSProfile(
depth=10,
durability=DurabilityPolicy.TRANSIENT_LOCAL,
history=HistoryPolicy.KEEP_LAST,
)
pub1 = self.node.create_publisher(
DestinationGoal, f'{r1_name}/destination/goal', qos_profile=goal_qos
DestinationGoal, f'{r1_name}/destination/goal', qos_profile=reliable_transient_qos
)
pub2 = self.node.create_publisher(
DestinationGoal, f'{r2_name}/destination/goal', qos_profile=goal_qos
DestinationGoal, f'{r2_name}/destination/goal', qos_profile=reliable_transient_qos
)

discovery_qos = QoSProfile(
Expand Down
20 changes: 11 additions & 9 deletions reservation_system/rmf_reservation_tests/test/test_path_server.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@
from nav_msgs.msg import Odometry
import pytest
import rclpy
from rclpy.qos import DurabilityPolicy, HistoryPolicy, QoSProfile
from rclpy.qos import DurabilityPolicy, HistoryPolicy, QoSProfile, ReliabilityPolicy
from rmf_prototype_msgs.msg import (
Destination,
DestinationConstraints,
Expand Down Expand Up @@ -88,28 +88,30 @@ def test_plan_generation_and_publication(self):
robot_name = 'robot_1'
received_plans = []

reliable_transient_qos = QoSProfile(
depth=10,
durability=DurabilityPolicy.TRANSIENT_LOCAL,
history=HistoryPolicy.KEEP_LAST,
reliability=ReliabilityPolicy.RELIABLE,
)

self.node.create_subscription(
Plan,
f'{robot_name}/plan',
lambda msg: received_plans.append(msg),
10
qos_profile=reliable_transient_qos
)

input_qos = QoSProfile(
depth=10,
durability=DurabilityPolicy.TRANSIENT_LOCAL,
history=HistoryPolicy.KEEP_LAST,
)
dest_pub = self.node.create_publisher(
Destination,
f'{robot_name}/destination',
qos_profile=input_qos
qos_profile=reliable_transient_qos
)

odom_pub = self.node.create_publisher(
Odometry,
f'{robot_name}/odom',
qos_profile=input_qos
qos_profile=reliable_transient_qos
)

discovery_qos = QoSProfile(
Expand Down
9 changes: 5 additions & 4 deletions reservation_system/rmf_reservation_tests/test/test_queue.py
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@
import launch_testing
import pytest
import rclpy
from rclpy.qos import DurabilityPolicy, HistoryPolicy, QoSProfile
from rclpy.qos import DurabilityPolicy, HistoryPolicy, QoSProfile, ReliabilityPolicy
from rmf_prototype_msgs.msg import (
Destination,
DestinationConstraints,
Expand Down Expand Up @@ -68,10 +68,11 @@ def setUpClass(cls):
rclpy.init()
cls.node = rclpy.create_node('test_queue_node')

cls.goal_qos = QoSProfile(
cls.reliable_transient_qos = QoSProfile(
depth=10,
durability=DurabilityPolicy.TRANSIENT_LOCAL,
history=HistoryPolicy.KEEP_LAST,
reliability=ReliabilityPolicy.RELIABLE,
)
discovery_qos = QoSProfile(
depth=1,
Expand All @@ -86,7 +87,7 @@ def setUpClass(cls):
Destination,
f'{name}/destination',
lambda msg, n=name: cls.destinations[n].append(msg),
10,
qos_profile=cls.reliable_transient_qos,
)

cls.discovery_pub = cls.node.create_publisher(
Expand Down Expand Up @@ -122,7 +123,7 @@ def setUp(self):

for name in ROBOT_NAMES:
self.goal_pubs[name] = self.node.create_publisher(
DestinationGoal, f'{name}/destination/goal', qos_profile=self.goal_qos
DestinationGoal, f'{name}/destination/goal', qos_profile=self.reliable_transient_qos
)

for buffer in self.destinations.values():
Expand Down
18 changes: 10 additions & 8 deletions reservation_system/rmf_reservation_tests/test/test_reservation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@
import launch_testing
import pytest
import rclpy
from rclpy.qos import DurabilityPolicy, HistoryPolicy, QoSProfile
from rclpy.qos import DurabilityPolicy, HistoryPolicy, QoSProfile, ReliabilityPolicy
from rmf_prototype_msgs.msg import (
Destination,
DestinationConstraints,
Expand Down Expand Up @@ -81,22 +81,24 @@ def test_single_reservation(self):
robot_name = 'robot_1'
received_dest = []

reliable_transient_qos = QoSProfile(
depth=10,
durability=DurabilityPolicy.TRANSIENT_LOCAL,
history=HistoryPolicy.KEEP_LAST,
reliability=ReliabilityPolicy.RELIABLE,
)

self.node.create_subscription(
Destination,
f'{robot_name}/destination',
lambda msg: received_dest.append(msg),
10
qos_profile=reliable_transient_qos
)

goal_qos = QoSProfile(
depth=10,
durability=DurabilityPolicy.TRANSIENT_LOCAL,
history=HistoryPolicy.KEEP_LAST,
)
pub = self.node.create_publisher(
DestinationGoal,
f'{robot_name}/destination/goal',
qos_profile=goal_qos
qos_profile=reliable_transient_qos
)

discovery_qos = QoSProfile(
Expand Down
11 changes: 6 additions & 5 deletions reservation_system/rmf_reservation_tests/test/test_safe_sets.py
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@
import launch_testing
import pytest
import rclpy
from rclpy.qos import DurabilityPolicy, HistoryPolicy, QoSProfile
from rclpy.qos import DurabilityPolicy, HistoryPolicy, QoSProfile, ReliabilityPolicy
from rmf_prototype_msgs.msg import (
Destination,
DestinationConstraints,
Expand Down Expand Up @@ -77,10 +77,11 @@ def setUpClass(cls):
rclpy.init()
cls.node = rclpy.create_node('test_safe_sets_node')

goal_qos = QoSProfile(
reliable_transient_qos = QoSProfile(
depth=10,
durability=DurabilityPolicy.TRANSIENT_LOCAL,
history=HistoryPolicy.KEEP_LAST,
reliability=ReliabilityPolicy.RELIABLE,
)
discovery_qos = QoSProfile(
depth=1,
Expand All @@ -98,16 +99,16 @@ def setUpClass(cls):
Destination,
f'{name}/destination',
lambda msg, n=name: cls.destinations[n].append(msg),
10,
qos_profile=reliable_transient_qos,
)
cls.node.create_subscription(
DestinationError,
f'{name}/destination/error',
lambda msg, n=name: cls.errors[n].append(msg),
10,
qos_profile=reliable_transient_qos,
)
cls.goal_pubs[name] = cls.node.create_publisher(
DestinationGoal, f'{name}/destination/goal', qos_profile=goal_qos
DestinationGoal, f'{name}/destination/goal', qos_profile=reliable_transient_qos
)

cls.discovery_pub = cls.node.create_publisher(
Expand Down
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