Merge branch 'master' into add-intraprocess-test

.gitlab-ci.yml

@@ -16,9 +16,8 @@ build:
   artifacts:
     paths:
       - install
-      - build
     reports:
-      junit: build/**/Test.xml
+      junit: build/*/Testing/*/Test.xml
       
 build_enabled:
   script:
@@ -27,6 +26,5 @@ build_enabled:
   artifacts:
     paths:
       - install
-      - build
     reports:
-      junit: build/**/Test.xml
+      junit: build/*/Testing/*/Test.xml

tracetools_test/src/test_ping.cpp

@@ -20,18 +20,22 @@
 
 using namespace std::chrono_literals;
 
+#define NODE_NAME "test_ping"
+#define SUB_TOPIC_NAME "pong"
+#define PUB_TOPIC_NAME "ping"
+
 class PingNode : public rclcpp::Node
 {
 public:
   explicit PingNode(rclcpp::NodeOptions options)
-  : Node("test_ping", options)
+  : Node(NODE_NAME, options)
   {
     sub_ = this->create_subscription<std_msgs::msg::String>(
-      "pong",
+      SUB_TOPIC_NAME,
       rclcpp::QoS(10),
       std::bind(&PingNode::callback, this, std::placeholders::_1));
     pub_ = this->create_publisher<std_msgs::msg::String>(
-      "ping",
+      PUB_TOPIC_NAME,
       rclcpp::QoS(10));
     timer_ = this->create_wall_timer(
       500ms,

tracetools_test/src/test_pong.cpp

@@ -17,18 +17,22 @@
 #include "rclcpp/rclcpp.hpp"
 #include "std_msgs/msg/string.hpp"
 
+#define NODE_NAME "test_pong"
+#define SUB_TOPIC_NAME "ping"
+#define PUB_TOPIC_NAME "pong"
+
 class PongNode : public rclcpp::Node
 {
 public:
   explicit PongNode(rclcpp::NodeOptions options)
-  : Node("test_pong", options)
+  : Node(NODE_NAME, options)
   {
     sub_ = this->create_subscription<std_msgs::msg::String>(
-      "ping",
+      SUB_TOPIC_NAME,
       rclcpp::QoS(10),
       std::bind(&PongNode::callback, this, std::placeholders::_1));
     pub_ = this->create_publisher<std_msgs::msg::String>(
-      "pong",
+      PUB_TOPIC_NAME,
       rclcpp::QoS(10));
   }
 

tracetools_test/src/test_publisher.cpp

@@ -17,14 +17,17 @@
 #include "rclcpp/rclcpp.hpp"
 #include "std_msgs/msg/string.hpp"
 
+#define NODE_NAME "test_publisher"
+#define TOPIC_NAME "the_topic"
+
 class PubNode : public rclcpp::Node
 {
 public:
   explicit PubNode(rclcpp::NodeOptions options)
-  : Node("test_publisher", options)
+  : Node(NODE_NAME, options)
   {
     pub_ = this->create_publisher<std_msgs::msg::String>(
-      "the_topic",
+      TOPIC_NAME,
       rclcpp::QoS(10));
   }
 

tracetools_test/src/test_service.cpp

@@ -17,14 +17,17 @@
 #include "rclcpp/rclcpp.hpp"
 #include "std_srvs/srv/empty.hpp"
 
+#define NODE_NAME "test_service"
+#define SERVICE_NAME "the_service"
+
 class ServiceNode : public rclcpp::Node
 {
 public:
   explicit ServiceNode(rclcpp::NodeOptions options)
-  : Node("test_service", options)
+  : Node(NODE_NAME, options)
   {
     srv_ = this->create_service<std_srvs::srv::Empty>(
-      "the_service",
+      SERVICE_NAME,
       std::bind(
         &ServiceNode::service_callback,
         this,

tracetools_test/src/test_service_ping.cpp

@@ -20,14 +20,18 @@
 
 using namespace std::chrono_literals;
 
+#define NODE_NAME "test_service_ping"
+#define SERVICE_NAME "pong"
+#define CLIENT_NAME "ping"
+
 class PingNode : public rclcpp::Node
 {
 public:
   explicit PingNode(rclcpp::NodeOptions options)
-  : Node("test_service_ping", options)
+  : Node(NODE_NAME, options)
   {
     srv_ = this->create_service<std_srvs::srv::Empty>(
-      "pong",
+      SERVICE_NAME,
       std::bind(
         &PingNode::service_callback,
         this,
@@ -35,7 +39,7 @@ public:
         std::placeholders::_2,
         std::placeholders::_3));
     client_ = this->create_client<std_srvs::srv::Empty>(
-      "ping");
+      CLIENT_NAME);
     timer_ = this->create_wall_timer(
       500ms,
       std::bind(&PingNode::timer_callback, this));

tracetools_test/src/test_service_pong.cpp

@@ -17,21 +17,25 @@
 #include "rclcpp/rclcpp.hpp"
 #include "std_srvs/srv/empty.hpp"
 
+#define NODE_NAME "test_service_pong"
+#define SERVICE_NAME "ping"
+#define CLIENT_NAME "pong"
+
 class PongNode : public rclcpp::Node
 {
 public:
   explicit PongNode(rclcpp::NodeOptions options)
-  : Node("test_service_pong", options)
+  : Node(NODE_NAME, options)
   {
     srv_ = this->create_service<std_srvs::srv::Empty>(
-      "ping",
+      SERVICE_NAME,
       std::bind(
         &PongNode::service_callback,
         this,
         std::placeholders::_1,
         std::placeholders::_2,
         std::placeholders::_3));
-    client_ = this->create_client<std_srvs::srv::Empty>("pong");
+    client_ = this->create_client<std_srvs::srv::Empty>(CLIENT_NAME);
   }
 
 private:

tracetools_test/src/test_subscription.cpp

@@ -17,14 +17,17 @@
 #include "rclcpp/rclcpp.hpp"
 #include "std_msgs/msg/string.hpp"
 
+#define NODE_NAME "test_subscription"
+#define TOPIC_NAME "the_topic"
+
 class SubNode : public rclcpp::Node
 {
 public:
   explicit SubNode(rclcpp::NodeOptions options)
-  : Node("test_subscription", options)
+  : Node(NODE_NAME, options)
   {
     sub_ = this->create_subscription<std_msgs::msg::String>(
-      "the_topic",
+      TOPIC_NAME,
       rclcpp::QoS(10),
       std::bind(&SubNode::callback, this, std::placeholders::_1));
   }

tracetools_test/src/test_timer.cpp

@@ -19,15 +19,18 @@
 
 using namespace std::chrono_literals;
 
+#define NODE_NAME "test_timer"
+#define TIMER_PERIOD 1ms
+
 class TimerNode : public rclcpp::Node
 {
 public:
   explicit TimerNode(rclcpp::NodeOptions options)
-  : Node("test_timer", options)
+  : Node(NODE_NAME, options)
   {
     is_done_ = false;
     timer_ = this->create_wall_timer(
-      1ms,
+      TIMER_PERIOD,
       std::bind(&TimerNode::timer_callback, this));
   }