WaitForTopics: let the user inject a callaback to be executed after starting the subscribers (backport #356)
#504
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…d after starting the subscribers (#356) Signed-off-by: Giorgio Pintaudi <[email protected]> (cherry picked from commit 1e33f0a)
…lished (#474) Signed-off-by: Giorgio Pintaudi <[email protected]> Signed-off-by: Giorgio Pintaudi <[email protected]>
Signed-off-by: Giorgio Pintaudi <[email protected]> When testing subscribers and publishers, usually we do not want to miss any message due to race issues or other network instabilities. So we give the option to the user to specify a QoS profile best suited for the test scenario. The default is to set the durability to transient local, so that the publisher do not drop any packages in case of late joining subscribers.
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I cherre-picked the two other related PRs are there any other related PR @LastStarDust ? |
Contributor
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Pulls: #504
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Contributor
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Thank you for backporting this feature to jazzy. Here are all of the PRs that should be backported (some might already have been):
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ahcorde
approved these changes
Nov 20, 2025
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I created this pull request as a proof of concept for the new feature discussed here: #348.
The ticket description is still correct and relevant, but for clarity's sake, let me summarize and expand on it here.
Let us assume there is a node ("NODE under test" in the diagram) which:
At the moment, there is no way to programmatically test the whole node end-to-end. For that, we need a way to:
Currently, the
WaitForTopicsclass provided by this package takes care of 2 and 3, but there is no mechanism to reliably accomplish 1, due to the asynchronous nature of ROS2 publishers and subscribers.This PR is an attempt to enhance the
WaitForTopicsclass so that it can take care of 1 as well, thus closing the loop. But it might well not be the only solution or the most effective. I am open to any kind of suggestion and guidance.The main issue behind the implementation of such a feature is that in ROS2 the order of creation of publishers and subscribers does matter. They must either always be created in a specific order or be synchronized in some other way.
Below is a cartoon-style diagram illustrating what the end result should look like:
This is an automatic backport of pull request #356 done by Mergify.