Skip to content

Commit b4437ab

Browse files
soham2560soham2560
committed
moved from single to multi threaded executors in all tests
1 parent 2382f22 commit b4437ab

12 files changed

+65
-65
lines changed

‎controller_manager/test/controller_manager_test_common.hpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -60,7 +60,7 @@ class ControllerManagerFixture : public ::testing::Test
6060
const std::string & cm_namespace = "")
6161
: robot_description_(robot_description)
6262
{
63-
executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
63+
executor_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
6464
hardware_interface::ResourceManagerParams rm_params;
6565
rm_params.clock = rm_node_->get_clock();
6666
rm_params.logger = rm_node_->get_logger();

‎controller_manager/test/test_controller_manager.cpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -44,7 +44,7 @@ class TestControllerManagerWithStrictness
4444
test_node.create_subscription<controller_manager_msgs::msg::ControllerManagerActivity>(
4545
topic, rclcpp::QoS(1).reliable().transient_local(), subs_callback);
4646

47-
rclcpp::executors::SingleThreadedExecutor executor;
47+
rclcpp::executors::MultiThreadedExecutor executor;
4848
executor.add_node(test_node.get_node_base_interface());
4949
std::this_thread::sleep_for(std::chrono::milliseconds(200));
5050

‎controller_manager/test/test_controller_manager_srvs.cpp‎

Lines changed: 19 additions & 19 deletions
Original file line numberDiff line numberDiff line change
@@ -39,7 +39,7 @@ using TestChainableController = test_chainable_controller::TestChainableControll
3939

4040
TEST_F(TestControllerManagerSrvs, list_controller_types)
4141
{
42-
rclcpp::executors::SingleThreadedExecutor srv_executor;
42+
rclcpp::executors::MultiThreadedExecutor srv_executor;
4343
rclcpp::Node::SharedPtr srv_node = std::make_shared<rclcpp::Node>("srv_client");
4444
srv_executor.add_node(srv_node);
4545
rclcpp::Client<controller_manager_msgs::srv::ListControllerTypes>::SharedPtr client =
@@ -62,7 +62,7 @@ TEST_F(TestControllerManagerSrvs, list_controller_types)
6262

6363
TEST_F(TestControllerManagerSrvs, list_controllers_srv)
6464
{
65-
rclcpp::executors::SingleThreadedExecutor srv_executor;
65+
rclcpp::executors::MultiThreadedExecutor srv_executor;
6666
rclcpp::Node::SharedPtr srv_node = std::make_shared<rclcpp::Node>("srv_client");
6767
srv_executor.add_node(srv_node);
6868
rclcpp::Client<ListControllers>::SharedPtr client =
@@ -233,7 +233,7 @@ TEST_F(TestControllerManagerSrvs, list_controllers_srv)
233233
TEST_F(TestControllerManagerSrvs, list_chained_controllers_srv)
234234
{
235235
// create server client and request
236-
rclcpp::executors::SingleThreadedExecutor srv_executor;
236+
rclcpp::executors::MultiThreadedExecutor srv_executor;
237237
rclcpp::Node::SharedPtr srv_node = std::make_shared<rclcpp::Node>("srv_client");
238238
srv_executor.add_node(srv_node);
239239
rclcpp::Client<ListControllers>::SharedPtr client =
@@ -347,7 +347,7 @@ TEST_F(TestControllerManagerSrvs, list_chained_controllers_srv)
347347

348348
TEST_F(TestControllerManagerSrvs, reload_controller_libraries_srv)
349349
{
350-
rclcpp::executors::SingleThreadedExecutor srv_executor;
350+
rclcpp::executors::MultiThreadedExecutor srv_executor;
351351
rclcpp::Node::SharedPtr srv_node = std::make_shared<rclcpp::Node>("srv_client");
352352
srv_executor.add_node(srv_node);
353353
rclcpp::Client<controller_manager_msgs::srv::ReloadControllerLibraries>::SharedPtr client =
@@ -451,7 +451,7 @@ TEST_F(TestControllerManagerSrvs, reload_controller_libraries_srv)
451451

452452
TEST_F(TestControllerManagerSrvs, load_controller_srv)
453453
{
454-
rclcpp::executors::SingleThreadedExecutor srv_executor;
454+
rclcpp::executors::MultiThreadedExecutor srv_executor;
455455
rclcpp::Node::SharedPtr srv_node = std::make_shared<rclcpp::Node>("srv_client");
456456
srv_executor.add_node(srv_node);
457457
rclcpp::Client<controller_manager_msgs::srv::LoadController>::SharedPtr client =
@@ -476,7 +476,7 @@ TEST_F(TestControllerManagerSrvs, load_controller_srv)
476476

477477
TEST_F(TestControllerManagerSrvs, unload_controller_srv)
478478
{
479-
rclcpp::executors::SingleThreadedExecutor srv_executor;
479+
rclcpp::executors::MultiThreadedExecutor srv_executor;
480480
rclcpp::Node::SharedPtr srv_node = std::make_shared<rclcpp::Node>("srv_client");
481481
srv_executor.add_node(srv_node);
482482
rclcpp::Client<controller_manager_msgs::srv::UnloadController>::SharedPtr client =
@@ -504,7 +504,7 @@ TEST_F(TestControllerManagerSrvs, unload_controller_srv)
504504

505505
TEST_F(TestControllerManagerSrvs, robot_description_on_load_and_unload_controller)
506506
{
507-
rclcpp::executors::SingleThreadedExecutor srv_executor;
507+
rclcpp::executors::MultiThreadedExecutor srv_executor;
508508
rclcpp::Node::SharedPtr srv_node = std::make_shared<rclcpp::Node>("srv_client");
509509
srv_executor.add_node(srv_node);
510510
rclcpp::Client<controller_manager_msgs::srv::UnloadController>::SharedPtr unload_client =
@@ -548,7 +548,7 @@ TEST_F(TestControllerManagerSrvs, robot_description_on_load_and_unload_controlle
548548

549549
TEST_F(TestControllerManagerSrvs, configure_controller_srv)
550550
{
551-
rclcpp::executors::SingleThreadedExecutor srv_executor;
551+
rclcpp::executors::MultiThreadedExecutor srv_executor;
552552
rclcpp::Node::SharedPtr srv_node = std::make_shared<rclcpp::Node>("srv_client");
553553
srv_executor.add_node(srv_node);
554554
rclcpp::Client<controller_manager_msgs::srv::ConfigureController>::SharedPtr client =
@@ -718,7 +718,7 @@ TEST_F(TestControllerManagerSrvs, list_sorted_chained_controllers)
718718
/// the controller A
719719

720720
// create server client and request
721-
rclcpp::executors::SingleThreadedExecutor srv_executor;
721+
rclcpp::executors::MultiThreadedExecutor srv_executor;
722722
rclcpp::Node::SharedPtr srv_node = std::make_shared<rclcpp::Node>("srv_client");
723723
srv_executor.add_node(srv_node);
724724
rclcpp::Client<ListControllers>::SharedPtr client =
@@ -850,7 +850,7 @@ TEST_F(TestControllerManagerSrvs, list_sorted_complex_chained_controllers)
850850
/// the controller A
851851

852852
// create server client and request
853-
rclcpp::executors::SingleThreadedExecutor srv_executor;
853+
rclcpp::executors::MultiThreadedExecutor srv_executor;
854854
rclcpp::Node::SharedPtr srv_node = std::make_shared<rclcpp::Node>("srv_client");
855855
srv_executor.add_node(srv_node);
856856
rclcpp::Client<ListControllers>::SharedPtr client =
@@ -1034,7 +1034,7 @@ TEST_F(TestControllerManagerSrvs, list_sorted_independent_chained_controllers)
10341034
/// the controller A
10351035

10361036
// create server client and request
1037-
rclcpp::executors::SingleThreadedExecutor srv_executor;
1037+
rclcpp::executors::MultiThreadedExecutor srv_executor;
10381038
rclcpp::Node::SharedPtr srv_node = std::make_shared<rclcpp::Node>("srv_client");
10391039
srv_executor.add_node(srv_node);
10401040
rclcpp::Client<ListControllers>::SharedPtr client =
@@ -1255,7 +1255,7 @@ TEST_F(TestControllerManagerSrvs, list_large_number_of_controllers_with_chains)
12551255
/// exported from the controller A
12561256

12571257
// create server client and request
1258-
rclcpp::executors::SingleThreadedExecutor srv_executor;
1258+
rclcpp::executors::MultiThreadedExecutor srv_executor;
12591259
rclcpp::Node::SharedPtr srv_node = std::make_shared<rclcpp::Node>("srv_client");
12601260
srv_executor.add_node(srv_node);
12611261
rclcpp::Client<ListControllers>::SharedPtr client =
@@ -1532,7 +1532,7 @@ TEST_F(TestControllerManagerSrvs, list_sorted_large_chained_controller_tree)
15321532
/// the controller A
15331533

15341534
// create server client and request
1535-
rclcpp::executors::SingleThreadedExecutor srv_executor;
1535+
rclcpp::executors::MultiThreadedExecutor srv_executor;
15361536
rclcpp::Node::SharedPtr srv_node = std::make_shared<rclcpp::Node>("srv_client");
15371537
srv_executor.add_node(srv_node);
15381538
rclcpp::Client<ListControllers>::SharedPtr client =
@@ -1734,7 +1734,7 @@ TEST_F(TestControllerManagerSrvs, list_sorted_large_chained_controller_tree)
17341734
TEST_F(TestControllerManagerSrvs, list_hardware_interfaces_srv)
17351735
{
17361736
// create server client and request
1737-
rclcpp::executors::SingleThreadedExecutor srv_executor;
1737+
rclcpp::executors::MultiThreadedExecutor srv_executor;
17381738
rclcpp::Node::SharedPtr srv_node = std::make_shared<rclcpp::Node>("srv_client");
17391739
srv_executor.add_node(srv_node);
17401740
rclcpp::Client<ListHardwareInterfaces>::SharedPtr client =
@@ -1899,7 +1899,7 @@ TEST_F(TestControllerManagerSrvs, activate_chained_controllers_one_by_one)
18991899
/// the controller A
19001900

19011901
// create server client and request
1902-
rclcpp::executors::SingleThreadedExecutor srv_executor;
1902+
rclcpp::executors::MultiThreadedExecutor srv_executor;
19031903
rclcpp::Node::SharedPtr srv_node = std::make_shared<rclcpp::Node>("srv_client");
19041904
srv_executor.add_node(srv_node);
19051905
rclcpp::Client<ListControllers>::SharedPtr client =
@@ -2001,7 +2001,7 @@ TEST_F(TestControllerManagerSrvs, activate_chained_controllers_all_at_once)
20012001
/// the controller A
20022002

20032003
// create server client and request
2004-
rclcpp::executors::SingleThreadedExecutor srv_executor;
2004+
rclcpp::executors::MultiThreadedExecutor srv_executor;
20052005
rclcpp::Node::SharedPtr srv_node = std::make_shared<rclcpp::Node>("srv_client");
20062006
srv_executor.add_node(srv_node);
20072007
rclcpp::Client<ListControllers>::SharedPtr client =
@@ -2088,7 +2088,7 @@ TEST_F(TestControllerManagerSrvs, activate_chained_controllers_all_at_once)
20882088

20892089
TEST_F(TestControllerManagerSrvs, switch_controller_failure_behaviour_on_unknown_controller)
20902090
{
2091-
rclcpp::executors::SingleThreadedExecutor srv_executor;
2091+
rclcpp::executors::MultiThreadedExecutor srv_executor;
20922092
rclcpp::Node::SharedPtr srv_node = std::make_shared<rclcpp::Node>("srv_client");
20932093
srv_executor.add_node(srv_node);
20942094
rclcpp::Client<ListControllers>::SharedPtr client =
@@ -2215,7 +2215,7 @@ TEST_F(TestControllerManagerSrvs, switch_controller_failure_behaviour_on_unknown
22152215
TEST_F(TestControllerManagerSrvs, switch_controller_test_activate_asap)
22162216
{
22172217
// create server client and request
2218-
rclcpp::executors::SingleThreadedExecutor srv_executor;
2218+
rclcpp::executors::MultiThreadedExecutor srv_executor;
22192219
rclcpp::Node::SharedPtr srv_node = std::make_shared<rclcpp::Node>("srv_client");
22202220
srv_executor.add_node(srv_node);
22212221
rclcpp::Client<ListControllers>::SharedPtr client =
@@ -2359,7 +2359,7 @@ TEST_F(TestControllerManagerSrvs, switch_controller_test_activate_asap)
23592359
TEST_F(TestControllerManagerSrvs, switch_controller_controllers_taking_long_time_to_activate)
23602360
{
23612361
// create server client and request
2362-
rclcpp::executors::SingleThreadedExecutor srv_executor;
2362+
rclcpp::executors::MultiThreadedExecutor srv_executor;
23632363
rclcpp::Node::SharedPtr srv_node = std::make_shared<rclcpp::Node>("srv_client");
23642364
srv_executor.add_node(srv_node);
23652365
rclcpp::Client<ListControllers>::SharedPtr client =

‎controller_manager/test/test_controller_manager_with_namespace.cpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -33,7 +33,7 @@ class TestControllerManagerWithNamespace
3333
public:
3434
void SetUp()
3535
{
36-
executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
36+
executor_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
3737
hardware_interface::ResourceManagerParams rm_params;
3838
rm_params.clock = rm_node_->get_clock();
3939
rm_params.logger = rm_node_->get_logger();

‎controller_manager/test/test_controllers_chaining_with_controller_manager.cpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -106,7 +106,7 @@ class TestControllerChainingWithControllerManager
106106
public:
107107
void SetUp()
108108
{
109-
executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
109+
executor_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
110110
const std::regex velocity_pattern(R"(velocity\s*=\s*"-?[0-9]+(\.[0-9]+)?")");
111111
const std::string velocity_replacement = R"(velocity="10000.0")";
112112
const std::string diffbot_urdf_large_limits = std::regex_replace(

‎controller_manager/test/test_hardware_management_srvs.cpp‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -58,7 +58,7 @@ class TestControllerManagerHWManagementSrvs : public TestControllerManagerSrvs
5858
public:
5959
void SetUp() override
6060
{
61-
executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
61+
executor_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
6262
cm_ = std::make_shared<controller_manager::ControllerManager>(executor_, TEST_CM_NAME);
6363
run_updater_ = false;
6464

@@ -101,7 +101,7 @@ class TestControllerManagerHWManagementSrvs : public TestControllerManagerSrvs
101101
const std::vector<std::vector<std::vector<bool>>> & hw_itfs_available_status,
102102
const std::vector<std::vector<std::vector<bool>>> & hw_itfs_claimed_status)
103103
{
104-
rclcpp::executors::SingleThreadedExecutor srv_executor;
104+
rclcpp::executors::MultiThreadedExecutor srv_executor;
105105
rclcpp::Node::SharedPtr list_srv_node = std::make_shared<rclcpp::Node>("list_srv_client");
106106
srv_executor.add_node(list_srv_node);
107107
rclcpp::Client<controller_manager_msgs::srv::ListHardwareComponents>::SharedPtr list_client =
@@ -179,7 +179,7 @@ class TestControllerManagerHWManagementSrvs : public TestControllerManagerSrvs
179179
const std::string & hardware_name, const uint8_t target_state_id,
180180
const std::string & target_state_label)
181181
{
182-
rclcpp::executors::SingleThreadedExecutor srv_executor;
182+
rclcpp::executors::MultiThreadedExecutor srv_executor;
183183
rclcpp::Node::SharedPtr mha_srv_node = std::make_shared<rclcpp::Node>("mha_srv_client");
184184
srv_executor.add_node(mha_srv_node);
185185
rclcpp::Client<controller_manager_msgs::srv::SetHardwareComponentState>::SharedPtr mha_client =
@@ -361,7 +361,7 @@ class TestControllerManagerHWManagementSrvsWithoutParams
361361
public:
362362
void SetUp() override
363363
{
364-
executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
364+
executor_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
365365
cm_ = std::make_shared<controller_manager::ControllerManager>(executor_, TEST_CM_NAME);
366366
run_updater_ = false;
367367

‎controller_manager/test/test_hardware_spawner.cpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -58,7 +58,7 @@ class RMServiceCaller
5858
};
5959

6060
protected:
61-
rclcpp::executors::SingleThreadedExecutor srv_executor_;
61+
rclcpp::executors::MultiThreadedExecutor srv_executor_;
6262
rclcpp::Node::SharedPtr list_srv_node_;
6363
rclcpp::Client<controller_manager_msgs::srv::ListHardwareComponents>::SharedPtr
6464
list_hw_components_client_;

‎hardware_interface/test/mock_components/test_generic_system.cpp‎

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -28,7 +28,7 @@
2828
#include "hardware_interface/resource_manager.hpp"
2929
#include "hardware_interface/types/lifecycle_state_names.hpp"
3030
#include "lifecycle_msgs/msg/state.hpp"
31-
#include "rclcpp/executors/single_threaded_executor.hpp"
31+
#include "rclcpp/executors/multi_threaded_executor.hpp"
3232
#include "rclcpp/node.hpp"
3333
#include "rclcpp_lifecycle/state.hpp"
3434
#include "ros2_control_test_assets/descriptions.hpp"
@@ -839,8 +839,8 @@ class TestGenericSystem : public ::testing::Test
839839
std::string hardware_system_2dof_standard_interfaces_with_same_hardware_group_;
840840
std::string hardware_system_2dof_standard_interfaces_with_two_diff_hw_groups_;
841841
rclcpp::Node::SharedPtr node_ = std::make_shared<rclcpp::Node>("TestGenericSystem");
842-
std::shared_ptr<rclcpp::executors::SingleThreadedExecutor> executor_ =
843-
std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
842+
std::shared_ptr<rclcpp::executors::MultiThreadedExecutor> executor_ =
843+
std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
844844
};
845845

846846
// Forward declaration
@@ -1004,8 +1004,8 @@ void generic_system_functional_test(
10041004
const double offset = 0)
10051005
{
10061006
rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_generic_system");
1007-
rclcpp::executors::SingleThreadedExecutor::SharedPtr executor =
1008-
std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
1007+
rclcpp::executors::MultiThreadedExecutor::SharedPtr executor =
1008+
std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
10091009
hardware_interface::ResourceManagerParams params;
10101010
params.robot_description = urdf;
10111011
params.clock = node->get_clock();
@@ -1112,8 +1112,8 @@ void generic_system_error_group_test(
11121112
const std::string & urdf, const std::string component_prefix, bool validate_same_group)
11131113
{
11141114
rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_generic_system");
1115-
rclcpp::executors::SingleThreadedExecutor::SharedPtr executor =
1116-
std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
1115+
rclcpp::executors::MultiThreadedExecutor::SharedPtr executor =
1116+
std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
11171117
hardware_interface::ResourceManagerParams params;
11181118
params.robot_description = urdf;
11191119
params.clock = node->get_clock();

0 commit comments

Comments
 (0)