Change the order of tests to fix timing issues (#498) (#501)

(cherry picked from commit 60c130a) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
ros-controls · Feb 12, 2025 · 347c8d4 · 347c8d4
1 parent 7bcf99f
commit 347c8d4
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Showing 3 changed files with 16 additions and 22 deletions.
diff --git a/gz_ros2_control_tests/tests/effort_test.py b/gz_ros2_control_tests/tests/effort_test.py
@@ -85,12 +85,6 @@ def test_clock(self):
         with WaitForTopics(topic_list, timeout=10.0):
             print('/clock is receiving messages!')
 
-    def test_controller_running(self, proc_output):
-
-        cnames = ['joint_trajectory_controller', 'joint_state_broadcaster']
-
-        check_controllers_running(self.node, cnames)
-
     def test_check_if_msgs_published(self):
         check_if_js_published(
             '/joint_states',
@@ -101,6 +95,10 @@ def test_check_if_msgs_published(self):
 
     def test_arm(self, launch_service, proc_info, proc_output):
 
+        # Check if the controllers are running
+        cnames = ['joint_trajectory_controller', 'joint_state_broadcaster']
+        check_controllers_running(self.node, cnames)
+
         proc_action = Node(
             package='gz_ros2_control_demos',
             executable='example_effort',

diff --git a/gz_ros2_control_tests/tests/position_test.py b/gz_ros2_control_tests/tests/position_test.py
@@ -85,12 +85,6 @@ def test_clock(self):
         with WaitForTopics(topic_list, timeout=10.0):
             print('/clock is receiving messages!')
 
-    def test_controller_running(self, proc_output):
-
-        cnames = ['joint_trajectory_controller', 'joint_state_broadcaster']
-
-        check_controllers_running(self.node, cnames)
-
     def test_check_if_msgs_published(self):
         check_if_js_published(
             '/joint_states',
@@ -101,6 +95,10 @@ def test_check_if_msgs_published(self):
 
     def test_arm(self, launch_service, proc_info, proc_output):
 
+        # Check if the controllers are running
+        cnames = ['joint_trajectory_controller', 'joint_state_broadcaster']
+        check_controllers_running(self.node, cnames)
+
         proc_action = Node(
             package='gz_ros2_control_demos',
             executable='example_position',

diff --git a/gz_ros2_control_tests/tests/velocity_test.py b/gz_ros2_control_tests/tests/velocity_test.py
@@ -85,16 +85,6 @@ def test_clock(self):
         with WaitForTopics(topic_list, timeout=10.0):
             print('/clock is receiving messages!')
 
-    def test_controller_running(self, proc_output):
-
-        cnames = [
-                  'joint_trajectory_controller',
-                  'joint_state_broadcaster',
-                  'imu_sensor_broadcaster'
-                ]
-
-        check_controllers_running(self.node, cnames)
-
     def test_check_if_msgs_published(self):
         check_if_js_published(
             '/joint_states',
@@ -105,6 +95,14 @@ def test_check_if_msgs_published(self):
 
     def test_arm(self, launch_service, proc_info, proc_output):
 
+        # Check if the controllers are running
+        cnames = [
+                  'joint_trajectory_controller',
+                  'joint_state_broadcaster',
+                  'imu_sensor_broadcaster'
+                ]
+        check_controllers_running(self.node, cnames)
+
         proc_action = Node(
             package='gz_ros2_control_demos',
             executable='example_velocity',