From f26c146048fe59e21cf29c7f7e23e7269aa51f85 Mon Sep 17 00:00:00 2001 From: Miaofei Date: Mon, 17 Dec 2018 10:41:38 -0800 Subject: [PATCH] remove unit test hack Signed-off-by: Miaofei --- rcl/test/rcl/test_graph.cpp | 29 ++++++++++++----------------- 1 file changed, 12 insertions(+), 17 deletions(-) diff --git a/rcl/test/rcl/test_graph.cpp b/rcl/test/rcl/test_graph.cpp index 323fddf6f..287ee0f2d 100644 --- a/rcl/test/rcl/test_graph.cpp +++ b/rcl/test/rcl/test_graph.cpp @@ -495,12 +495,8 @@ class NodeGraphMultiNodeFixture : public CLASSNAME(TestGraphFixture, RMW_IMPLEME { std::vector 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; @@ -510,17 +506,16 @@ 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);