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Make topic CLI tests wait on command output #1277

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Make topic CLI tests wait on command output #1277

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cba8a25
Wait for CLI daemon to discover test publishers
sylvesterkaczmarek Aug 20, 2026
e95a793
Fix topic CLI test wait to observe command under test
sylvesterkaczmarek Aug 30, 2026
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36 changes: 20 additions & 16 deletions ros2topic/test/test_bw_delay_hz.py
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Original file line number Diff line number Diff line change
Expand Up @@ -157,15 +157,6 @@ def publish_message():

publish_timer = self.node.create_timer(0.5, publish_message)

# Wait for the publisher to be discovered
publisher_count = 0
timeout_count = 0
while publisher_count == 0 and timeout_count < 10:
self.executor.spin_once(timeout_sec=0.1)
publisher_count = self.node.count_publishers(topic)
timeout_count += 1
assert publisher_count > 0, 'Publisher was not discovered'

try:
command_action = ExecuteProcess(
cmd=(['ros2', 'topic', verb] +
Expand All @@ -182,10 +173,24 @@ def publish_message():
filtered_rmw_implementation=get_rmw_implementation_identifier()
)
) as command:
# The future won't complete - we will hit the timeout
self.executor.spin_until_future_complete(
rclpy.task.Future(), timeout_sec=5
incompatible_qos_warning = (
"New publisher discovered on topic '{}', offering incompatible"
' QoS.'.format(topic)
)
# Keep publishing while waiting on the command under test itself.
# This avoids inferring its discovery state from a different node.
for _ in range(150):
self.executor.spin_once(timeout_sec=0.1)
output = command.output or ''
if compatible_qos:
if re.search(success_regex, output, flags=re.MULTILINE):
break
elif incompatible_qos_warning in output:
break
else:
self.fail(
f'{verb} CLI did not produce expected output within 15 seconds'
)
command.wait_for_shutdown(timeout=10)
# Check results
if compatible_qos:
Expand All @@ -197,10 +202,9 @@ def publish_message():
assert command.output, (
f'{verb} CLI did not print incompatible QoS warning'
)
assert ("New publisher discovered on topic '{}', offering incompatible"
' QoS.'.format(topic) in command.output), (
f'{verb} CLI did not print expected incompatible QoS warning'
)
assert incompatible_qos_warning in command.output, (
f'{verb} CLI did not print expected incompatible QoS warning'
)
finally:
# Cleanup
self.node.destroy_timer(publish_timer)
Expand Down