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Wait for action server before sending goal (#637)

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Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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Shane Loretz 2019-02-22 10:30:21 -08:00 • committed by GitHub
parent 8743bcb0a1
commit 3919ab1897
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1 changed files with 8 additions and 0 deletions
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8
rclcpp_action/test/test_client.cpp
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@ -47,6 +47,8 @@
using namespace std::chrono_literals; using namespace std::chrono_literals;
const auto WAIT_FOR_SERVER_TIMEOUT = 10s;
class TestClient : public ::testing::Test class TestClient : public ::testing::Test
{ {
protected: protected:
@ -269,6 +271,7 @@ TEST_F(TestClient, construction_and_destruction)
TEST_F(TestClient, async_send_goal_but_ignore_feedback_and_result) TEST_F(TestClient, async_send_goal_but_ignore_feedback_and_result)
{ {
auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name); auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
ActionGoal bad_goal; ActionGoal bad_goal;
bad_goal.order = -5; bad_goal.order = -5;
@ -290,6 +293,7 @@ TEST_F(TestClient, async_send_goal_but_ignore_feedback_and_result)
TEST_F(TestClient, async_send_goal_and_ignore_feedback_but_wait_for_result) TEST_F(TestClient, async_send_goal_and_ignore_feedback_but_wait_for_result)
{ {
auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name); auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
ActionGoal goal; ActionGoal goal;
goal.order = 5; goal.order = 5;
@ -311,6 +315,7 @@ TEST_F(TestClient, async_send_goal_and_ignore_feedback_but_wait_for_result)
TEST_F(TestClient, async_send_goal_with_feedback_and_result) TEST_F(TestClient, async_send_goal_with_feedback_and_result)
{ {
auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name); auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
ActionGoal goal; ActionGoal goal;
goal.order = 4; goal.order = 4;
@ -342,6 +347,7 @@ TEST_F(TestClient, async_send_goal_with_feedback_and_result)
TEST_F(TestClient, async_cancel_one_goal) TEST_F(TestClient, async_cancel_one_goal)
{ {
auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name); auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
ActionGoal goal; ActionGoal goal;
goal.order = 5; goal.order = 5;
@ -359,6 +365,7 @@ TEST_F(TestClient, async_cancel_one_goal)
TEST_F(TestClient, async_cancel_all_goals) TEST_F(TestClient, async_cancel_all_goals)
{ {
auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name); auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
ActionGoal goal; ActionGoal goal;
goal.order = 6; goal.order = 6;
@ -393,6 +400,7 @@ TEST_F(TestClient, async_cancel_all_goals)
TEST_F(TestClient, async_cancel_some_goals) TEST_F(TestClient, async_cancel_some_goals)
{ {
auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name); auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
ActionGoal goal; ActionGoal goal;
goal.order = 6; goal.order = 6;