remove unit test hack (#368)

Signed-off-by: Miaofei <miaofei@amazon.com> Signed-off-by: Steven! Ragnarök <steven@nuclearsandwich.com>
ros2 · Feb 8, 2019 · b7f05d9 · b7f05d9
1 parent c6788e4
commit b7f05d9
Showing 1 changed file with 12 additions and 17 deletions.
diff --git a/rcl/test/rcl/test_graph.cpp b/rcl/test/rcl/test_graph.cpp
@@ -494,12 +494,8 @@ class NodeGraphMultiNodeFixture : public CLASSNAME(TestGraphFixture, RMW_IMPLEME
   {
     std::vector<rcl_node_t *> node_vec;
     node_vec.push_back(this->node_ptr);
-    if (!(is_opensplice || is_connext)) {
-      // TODO(ross-desmond): opensplice and connext cannot discover data about
-      // the current node due to their implementations of Simple Discovery
-      // Protocol.  Should be fixed later.
-      node_vec.push_back(this->remote_node_ptr);
-    }
+    node_vec.push_back(this->remote_node_ptr);
+
     size_t attempts = 20;
     bool is_expect = false;
     rcl_ret_t ret;
@@ -509,17 +505,16 @@ class NodeGraphMultiNodeFixture : public CLASSNAME(TestGraphFixture, RMW_IMPLEME
       bool is_success = true;
       // verify each node contains the same node graph.
       for (auto node : node_vec) {
-        if (!(is_opensplice || is_connext)) {
-          RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking subscribers from node");
-          expect_topics_types(node, sub_func, node_state.subscribers,
-            test_graph_node_name, is_expect, is_success);
-          RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking services from node");
-          expect_topics_types(node, service_func, node_state.services,
-            test_graph_node_name, is_expect, is_success);
-          RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking publishers from node");
-          expect_topics_types(node, pub_func, node_state.publishers,
-            test_graph_node_name, is_expect, is_success);
-        }
+        RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking subscribers from node");
+        expect_topics_types(node, sub_func, node_state.subscribers,
+          test_graph_node_name, is_expect, is_success);
+        RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking services from node");
+        expect_topics_types(node, service_func, node_state.services,
+          test_graph_node_name, is_expect, is_success);
+        RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking publishers from node");
+        expect_topics_types(node, pub_func, node_state.publishers,
+          test_graph_node_name, is_expect, is_success);
+
         RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking subscribers from remote node");
         expect_topics_types(node, sub_func, remote_node_state.subscribers,
           this->remote_node_name, is_expect, is_success);