Improve tf2_ros::MessageFilter test reliability#929
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mjcarroll wants to merge 2 commits intoros2:rollingfrom
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Improve tf2_ros::MessageFilter test reliability#929mjcarroll wants to merge 2 commits intoros2:rollingfrom
mjcarroll wants to merge 2 commits intoros2:rollingfrom
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1. Use unique node names for each test case to avoid discovery collisions on high-load CI systems. 2. Synchronize on transform availability before starting the message loop. This ensures that the TransformListener has received the static transforms. 3. Use a more robust execution model by increasing the spin frequency and duration during the test loop. 4. Ensure the same clock instance is used for messages and the buffer. Fixes ros2#846 Assisted-by: Gemini CLI:2.0-Flash
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@ahcorde the test itself is actually deprecated... I suppose we could just remove it entirely |
ahcorde
approved these changes
Apr 28, 2026
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Pulls: #929
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Assisted-by: Gemini CLI:2.0-Flash
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Description
This PR addresses flaky timeouts and message drops in
tf2_ros::MessageFiltertests, specifically identifying the root causes for geometry2#846.Improvements
buffer.canTransformbefore starting the main message publication loop. This ensures that theTransformListenerhas actually received the static transforms from the broadcaster.spin_some() + sleep(1s)loop with a higher-frequency spin/sleep cycle. This ensures that internaltf2_ros::Buffertimers andMessageFiltercallbacks are processed promptly, preventing the message queue (depth 10) from filling up under high load.tf2buffer.Fixes #846
Is this user-facing behavior change?
No, test-only changes.
Did you use Generative AI?
Yes. Gemini CLI:2.0-Flash [web_fetch, run_shell_command, replace, git, gh]