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Replace deprecated rclcpp::spin_some #144

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Merged
MichaelOrlov merged 2 commits into from
Mar 28, 2026
Merged

Replace deprecated rclcpp::spin_some #144

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94db0b4
Replace deprecated rclcpp::spin_some
christophfroehlich Mar 27, 2026
1a8b341
Use spin_until_future_complete pattern instead
christophfroehlich Mar 28, 2026
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8 changes: 6 additions & 2 deletions topic_tools/test/test_demux.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,8 +56,11 @@ class DemuxTest : public TestTopicToolMultiPub
}
}

auto result = srv_client_->async_send_request(request);
rclcpp::spin_some(target_node_);
auto future = srv_client_->async_send_request(request);
executor_->spin_node_all(target_node_, std::chrono::nanoseconds(0));
const auto ret = executor_->spin_until_future_complete(future, service_call_timeout_);
ASSERT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
ASSERT_TRUE(future.get()->success);
}

void publish_and_check(std::string msg_content)
Expand All @@ -66,6 +69,7 @@ class DemuxTest : public TestTopicToolMultiPub
}

private:
const std::chrono::seconds service_call_timeout_{10};
rclcpp::Client<topic_tools_interfaces::srv::DemuxSelect>::SharedPtr srv_client_;
std::shared_ptr<rclcpp::Node> target_node_;
};
Expand Down
8 changes: 6 additions & 2 deletions topic_tools/test/test_mux.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,8 +61,11 @@ class MuxTest : public TestTopicToolMultiSub
}
}

auto result = srv_client_->async_send_request(request);
rclcpp::spin_some(target_node_);
auto future = srv_client_->async_send_request(request);
executor_->spin_node_all(target_node_, std::chrono::nanoseconds(0));
const auto ret = executor_->spin_until_future_complete(future, service_call_timeout_);
ASSERT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
ASSERT_TRUE(future.get()->success);
}

void publish_and_check(
Expand All @@ -73,6 +76,7 @@ class MuxTest : public TestTopicToolMultiSub
}

private:
const std::chrono::seconds service_call_timeout_{10};
rclcpp::Client<topic_tools_interfaces::srv::MuxSelect>::SharedPtr srv_client_;
std::shared_ptr<rclcpp::Node> target_node_;
};
Expand Down
21 changes: 15 additions & 6 deletions topic_tools/test/test_topic_tool.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -71,6 +71,8 @@ class TestTopicToolSingleSub : public TestTopicTool
const std::string test_name =
::testing::UnitTest::GetInstance()->current_test_info()->name();
test_node_ = rclcpp::Node::make_shared(test_name);
executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
executor_->add_node(test_node_);
target_input_topic_ = "/" + test_name + "/input";
target_output_topic_ = "/" + test_name + "/output";
subscription_ = test_node_->create_subscription<std_msgs::msg::String>(
Expand All @@ -94,8 +96,8 @@ class TestTopicToolSingleSub : public TestTopicTool
auto message = std_msgs::msg::String();
message.data = msg_content;
publisher_->publish(message);
rclcpp::spin_some(target_node);
rclcpp::spin_some(test_node_);
executor_->spin_node_all(target_node, std::chrono::nanoseconds(0));
executor_->spin_some();
}

std::string get_target_input_topic()
Expand All @@ -112,6 +114,7 @@ class TestTopicToolSingleSub : public TestTopicTool
std::shared_ptr<rclcpp::Node> test_node_;
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
std::shared_ptr<rclcpp::executors::SingleThreadedExecutor> executor_;
std::string target_input_topic_;
std::string target_output_topic_;
};
Expand All @@ -125,6 +128,8 @@ class TestTopicToolMultiSub : public TestTopicTool
const std::string test_name =
::testing::UnitTest::GetInstance()->current_test_info()->name();
test_node_ = rclcpp::Node::make_shared(test_name);
executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
executor_->add_node(test_node_);
target_input_topic_prefix_ = "/" + test_name + "/input";
target_output_topic_ = "/" + test_name + "/output";
subscription_ = test_node_->create_subscription<std_msgs::msg::String>(
Expand Down Expand Up @@ -155,8 +160,8 @@ class TestTopicToolMultiSub : public TestTopicTool
message.data = msg_content;
assert(publisher_index < num_target_input_topics_);
publishers_[publisher_index]->publish(message);
rclcpp::spin_some(target_node);
rclcpp::spin_some(test_node_);
executor_->spin_node_all(target_node, std::chrono::nanoseconds(0));
executor_->spin_some();
}

std::vector<std::string> get_target_input_topics()
Expand All @@ -175,6 +180,7 @@ class TestTopicToolMultiSub : public TestTopicTool

protected:
std::shared_ptr<rclcpp::Node> test_node_;
std::shared_ptr<rclcpp::executors::SingleThreadedExecutor> executor_;

private:
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
Expand All @@ -193,6 +199,8 @@ class TestTopicToolMultiPub : public TestTopicTool
using std::placeholders::_1;
const std::string test_name = ::testing::UnitTest::GetInstance()->current_test_info()->name();
test_node_ = rclcpp::Node::make_shared(test_name);
executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
executor_->add_node(test_node_);
target_input_topic_ = "/" + test_name + "/input";
target_output_topic_prefix_ = "/" + test_name + "/output";
publisher_ = test_node_->create_publisher<std_msgs::msg::String>(target_input_topic_, 10);
Expand All @@ -219,8 +227,8 @@ class TestTopicToolMultiPub : public TestTopicTool
auto message = std_msgs::msg::String();
message.data = msg_content;
publisher_->publish(message);
rclcpp::spin_some(target_node);
rclcpp::spin_some(test_node_);
executor_->spin_node_all(target_node, std::chrono::nanoseconds(0));
executor_->spin_some();
}

std::vector<std::string> get_target_output_topics()
Expand All @@ -236,6 +244,7 @@ class TestTopicToolMultiPub : public TestTopicTool

protected:
std::shared_ptr<rclcpp::Node> test_node_;
std::shared_ptr<rclcpp::executors::SingleThreadedExecutor> executor_;

private:
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
Expand Down
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