rostest: use AnyMsg in publishtest (ros#1659)

* publishtest: use AnyMsg in publishtest * fix concerns
tahsinkose · Apr 15, 2019 · 9f3cc4f · 9f3cc4f
1 parent 1b13d07
commit 9f3cc4f
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Showing 3 changed files with 21 additions and 3 deletions.
diff --git a/tools/rostest/CMakeLists.txt b/tools/rostest/CMakeLists.txt
@@ -29,6 +29,7 @@ if(CATKIN_ENABLE_TESTING)
 
   add_rostest(test/hztest0.test)
   add_rostest(test/hztest.test)
+  add_rostest(test/publishtest.test)
   add_rostest(test/clean_master.test)
   add_rostest(test/distro_version.test)
   add_rostest(test/param.test)

diff --git a/tools/rostest/nodes/publishtest b/tools/rostest/nodes/publishtest
@@ -72,10 +72,8 @@ class PublishChecker(object):
         self.topic_name = topic_name
         self.negative = negative
         self.deadline = rospy.Time.now() + rospy.Duration(timeout)
-        msg_class, _, _ = rostopic.get_topic_class(
-            rospy.resolve_name(topic_name), blocking=True)
         self.msg = None
-        self.sub = rospy.Subscriber(topic_name, msg_class, self._callback)
+        self.sub = rospy.Subscriber(topic_name, rospy.AnyMsg, self._callback)
 
     def _callback(self, msg):
         self.msg = msg

diff --git a/tools/rostest/test/publishtest.test b/tools/rostest/test/publishtest.test
@@ -0,0 +1,19 @@
+<launch>
+
+    <node pkg="rostopic" type="rostopic" name="freq_topic_pub" args="pub /frequent_topic std_msgs/Bool 'data: false' -r 10" />
+    <node pkg="rostopic" type="rostopic" name="once_topic_pub" args="pub /once_topic std_msgs/Bool 'data: false' -1l" />
+
+    <test test-name="publishtest_test" pkg="rostest" type="publishtest" time-limit="3.0" retry="3">
+        <rosparam>
+            topics:
+              - name: /frequent_topic
+                timeout: 2.
+              - name: /once_topic
+                timeout: 2.
+              - name: /unpublished_topic
+                timeout: 2.
+                negative: true
+        </rosparam>
+    </test>
+
+</launch>