Replace deprecated rclcpp::spin_some() (#541)

Author: Theonewhomadethings

control_toolbox/test/pid_ros_parameters_tests.cpp

@@ -240,6 +240,9 @@ TEST(PidParametersTest, SetParametersTest)
 {
   rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("pid_parameters_test");
 
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(node);
+
   TestablePidROS pid(node, "", "", false);
 
   const double P = 1.0;
@@ -295,8 +298,7 @@ TEST(PidParametersTest, SetParametersTest)
     set_result = node->set_parameter(rclcpp::Parameter("activate_state_publisher", true)));
   ASSERT_TRUE(set_result.successful);
 
-  // process callbacks
-  rclcpp::spin_some(node->get_node_base_interface());
+  executor.spin_some();
 
   // check gains were set using the parameters
   control_toolbox::Pid::Gains gains = pid.get_gains();
@@ -315,6 +317,9 @@ TEST(PidParametersTest, SetBadParametersTest)
 {
   rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("pid_parameters_test");
 
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(node);
+
   TestablePidROS pid(node, "", "", false);
 
   const double P = 1.0;
@@ -370,7 +375,7 @@ TEST(PidParametersTest, SetBadParametersTest)
   ASSERT_TRUE(set_result.successful);
 
   // process callbacks
-  rclcpp::spin_some(node->get_node_base_interface());
+  executor.spin_some();
 
   // check gains were NOT set using the parameters but the u_max and u_min
   // were set to infinity as saturation is false
@@ -393,7 +398,7 @@ TEST(PidParametersTest, SetBadParametersTest)
   ASSERT_TRUE(set_result.successful);
 
   // process callbacks
-  rclcpp::spin_some(node->get_node_base_interface());
+  executor.spin_some();
 
   // Setting good gains doesn't help, as the saturation is still false
   gains = pid.get_gains();
@@ -412,7 +417,7 @@ TEST(PidParametersTest, SetBadParametersTest)
   ASSERT_TRUE(set_result.successful);
 
   // process callbacks
-  rclcpp::spin_some(node->get_node_base_interface());
+  executor.spin_some();
 
   // check gains were NOT set using the parameters
   control_toolbox::Pid::Gains updated_gains = pid.get_gains();

control_toolbox/test/pid_ros_publisher_tests.cpp

@@ -38,6 +38,9 @@ TEST(PidPublisherTest, PublishTest)
 
   auto node = std::make_shared<rclcpp::Node>("pid_publisher_test");
 
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(node);
+
   control_toolbox::PidROS pid_ros = control_toolbox::PidROS(node, "", "", true);
 
   AntiWindupStrategy antiwindup_strat;
@@ -66,7 +69,7 @@ TEST(PidPublisherTest, PublishTest)
   for (size_t i = 0; i < ATTEMPTS && !callback_called; ++i)
   {
     pid_ros.compute_command(-0.5, rclcpp::Duration(1, 0));
-    rclcpp::spin_some(node);
+    executor.spin_some();
     std::this_thread::sleep_for(DELAY);
   }
 
@@ -82,6 +85,9 @@ TEST(PidPublisherTest, PublishTest_start_deactivated)
 
   auto node = std::make_shared<rclcpp::Node>("pid_publisher_test");
 
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(node);
+
   control_toolbox::PidROS pid_ros = control_toolbox::PidROS(node, "", "", false);
 
   AntiWindupStrategy antiwindup_strat;
@@ -110,7 +116,7 @@ TEST(PidPublisherTest, PublishTest_start_deactivated)
   for (size_t i = 0; i < ATTEMPTS && !callback_called; ++i)
   {
     pid_ros.compute_command(-0.5, rclcpp::Duration(1, 0));
-    rclcpp::spin_some(node);
+    executor.spin_some();
     std::this_thread::sleep_for(DELAY);
   }
   ASSERT_FALSE(callback_called);
@@ -126,7 +132,7 @@ TEST(PidPublisherTest, PublishTest_start_deactivated)
   for (size_t i = 0; i < ATTEMPTS && !callback_called; ++i)
   {
     pid_ros.compute_command(-0.5, rclcpp::Duration(1, 0));
-    rclcpp::spin_some(node);
+    executor.spin_some();
     std::this_thread::sleep_for(DELAY);
   }
   ASSERT_TRUE(callback_called);
@@ -135,15 +141,15 @@ TEST(PidPublisherTest, PublishTest_start_deactivated)
   ASSERT_NO_THROW(
     set_result = node->set_parameter(rclcpp::Parameter("activate_state_publisher", false)));
   ASSERT_TRUE(set_result.successful);
-  rclcpp::spin_some(node);  // process callbacks to ensure that no further messages are received
+  executor.spin_some();  // process callbacks to ensure that no further messages are received
   callback_called = false;
   last_state_msg.reset();
 
   // wait for callback
   for (size_t i = 0; i < ATTEMPTS && !callback_called; ++i)
   {
     pid_ros.compute_command(-0.5, rclcpp::Duration(1, 0));
-    rclcpp::spin_some(node);
+    executor.spin_some();
     std::this_thread::sleep_for(DELAY);
   }
   ASSERT_FALSE(callback_called);
@@ -157,6 +163,9 @@ TEST(PidPublisherTest, PublishTest_prefix)
 
   auto node = std::make_shared<rclcpp::Node>("pid_publisher_test");
 
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(node);
+
   // test with a prefix for the topic without trailing / (should be auto-added)
   control_toolbox::PidROS pid_ros = control_toolbox::PidROS(node, "", "global", true);
 
@@ -186,7 +195,7 @@ TEST(PidPublisherTest, PublishTest_prefix)
   for (size_t i = 0; i < ATTEMPTS && !callback_called; ++i)
   {
     pid_ros.compute_command(-0.5, rclcpp::Duration(1, 0));
-    rclcpp::spin_some(node);
+    executor.spin_some();
     std::this_thread::sleep_for(DELAY);
   }
 
@@ -202,6 +211,9 @@ TEST(PidPublisherTest, PublishTest_local_prefix)
 
   auto node = std::make_shared<rclcpp::Node>("pid_publisher_test");
 
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(node);
+
   control_toolbox::PidROS pid_ros = control_toolbox::PidROS(node, "", "~/local/", true);
 
   AntiWindupStrategy antiwindup_strat;
@@ -230,7 +242,7 @@ TEST(PidPublisherTest, PublishTest_local_prefix)
   for (size_t i = 0; i < ATTEMPTS && !callback_called; ++i)
   {
     pid_ros.compute_command(-0.5, rclcpp::Duration(1, 0));
-    rclcpp::spin_some(node);
+    executor.spin_some();
     std::this_thread::sleep_for(DELAY);
   }
 
@@ -302,6 +314,9 @@ TEST(PidPublisherTest, PublishTestLifecycle)
 
   auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("pid_publisher_test");
 
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(node->get_node_base_interface());
+
   control_toolbox::PidROS pid_ros(node, "", "", true);
 
   auto state_pub_lifecycle_ =
@@ -334,7 +349,7 @@ TEST(PidPublisherTest, PublishTestLifecycle)
   for (size_t i = 0; i < ATTEMPTS && !callback_called; ++i)
   {
     pid_ros.compute_command(-0.5, rclcpp::Duration(1, 0));
-    rclcpp::spin_some(node->get_node_base_interface());
+    executor.spin_some();
     std::this_thread::sleep_for(DELAY);
   }
   ASSERT_TRUE(callback_called);