Merge pull request #52 from NVIDIA-ISAAC-ROS/release-3.2

Improve unit test robustness
NVIDIA-ISAAC-ROS · Jan 31, 2025 · 98ff8d9 · 98ff8d9
2 parents 9173278 + 735b8e7
commit 98ff8d9
Show file tree

Hide file tree

Showing 4 changed files with 13 additions and 1 deletion.
diff --git a/README.md b/README.md
@@ -6,7 +6,7 @@ NVIDIA Isaac Transport for ROS package for hardware-acceleration friendly moveme
 
 ## Overview
 
-[Isaac ROS NITROS](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nitros) contains NVIDIA’s implementation
+Isaac ROS NITROS contains NVIDIA’s implementation
 of type adaptation and negotiation in ROS 2. To learn more about NITROS, see [here](https://nvidia-isaac-ros.github.io/concepts/nitros/index.html).
 
 Isaac ROS NITROS is composed of a number of individual packages, each with either a functional or structural purpose:

diff --git a/..._ros_nitros_topic_tools/test/isaac_ros_nitros_topic_tools_camera_drop_node_mode_0_test.py b/..._ros_nitros_topic_tools/test/isaac_ros_nitros_topic_tools_camera_drop_node_mode_0_test.py
@@ -105,6 +105,10 @@ def test_drop_node(self) -> None:
 
             # Publish TOTAL_COUNT number of messages
             counter = 0
+            # This test requires deterministic communication between the test node
+            # and the NitrosCameraDropNode. A 1-second delay ensures the NitrosCameraDropNode
+            # has fully started, preventing message drops/flaky tests.
+            time.sleep(1.0)
             while counter < TOTAL_COUNT:
                 header = self.node.get_clock().now().to_msg()
                 image_msg.header.stamp = header

diff --git a/..._ros_nitros_topic_tools/test/isaac_ros_nitros_topic_tools_camera_drop_node_mode_1_test.py b/..._ros_nitros_topic_tools/test/isaac_ros_nitros_topic_tools_camera_drop_node_mode_1_test.py
@@ -119,6 +119,10 @@ def test_drop_node(self) -> None:
 
             # Publish TOTAL_COUNT number of messages
             counter = 0
+            # This test requires deterministic communication between the test node
+            # and the NitrosCameraDropNode. A 1-second delay ensures the NitrosCameraDropNode
+            # has fully started, preventing message drops/flaky tests.
+            time.sleep(1.0)
             while counter < TOTAL_COUNT:
                 header = self.node.get_clock().now().to_msg()
                 image_msg_1.header.stamp = header

diff --git a/..._ros_nitros_topic_tools/test/isaac_ros_nitros_topic_tools_camera_drop_node_mode_2_test.py b/..._ros_nitros_topic_tools/test/isaac_ros_nitros_topic_tools_camera_drop_node_mode_2_test.py
@@ -110,6 +110,10 @@ def test_drop_node(self) -> None:
 
             # Publish TOTAL_COUNT number of messages
             counter = 0
+            # This test requires deterministic communication between the test node
+            # and the NitrosCameraDropNode. A 1-second delay ensures the NitrosCameraDropNode
+            # has fully started, preventing message drops/flaky tests.
+            time.sleep(1.0)
             while counter < TOTAL_COUNT:
                 header = self.node.get_clock().now().to_msg()
                 image_msg.header.stamp = header