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[foxy backport] Backport all unit tests and bug fixes, feature branch #1383

Merged
merged 61 commits into from
Oct 19, 2020
Merged

[foxy backport] Backport all unit tests and bug fixes, feature branch #1383

merged 61 commits into from
Oct 19, 2020

Commits on Oct 6, 2020

  1. Throw exception if rcl_timer_init fails (#1179) 

    * Throw exception if rcl_timer_init fails

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Add bad-argument tests for GenericTimer

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Add comments

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Address feedback

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Address feedback

Signed-off-by: Stephen Brawner <brawner@gmail.com>
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  2. Check period duration in create_wall_timer (#1178) 

    * Check period duration in create_wall_timer

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Adding comments

Signed-off-by: Stephen Brawner <brawner@gmail.com>
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  3. Fix rclcpp::NodeOptions::operator= (#1211) 

    Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
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  4. Add unit tests for logging functionality (#1184) 

    Signed-off-by: Stephen Brawner <brawner@gmail.com>
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  5. Unit tests for some header-only functions/classes (#1181) 

    * Unit tests for header-only functions/classes

Adds coverage for:
  * any_service_callback.hpp
  * any_subscription_callback.hpp
  * create_subscription.hpp
  * create_timer.hpp

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Address PR feedback

Signed-off-by: Stephen Brawner <brawner@gmail.com>
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  6. Unit tests for node interfaces (#1202) 

    * Unit tests for node interfaces

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Address PR Feedback

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Address PR feedback

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Adjusting comment

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  7. Unit tests for allocator_memory_strategy.hpp (#1197) 

    * Unit tests for allocator_memory_strategy.hpp

Part 1 of 2 for this file, but part 2 of 3 for memory strategies
overall

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR Fixup

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Remove find_package

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Remove ref to osrf_testing_tools

Signed-off-by: Stephen Brawner <brawner@gmail.com>
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  8. Unit tests for allocator_memory_strategy.cpp part 2 (#1198) 

    Signed-off-by: Stephen Brawner <brawner@gmail.com>
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  9. Add unit test for static_executor_entities_collector (#1221) 

    * Add unit test for static_executor_entities_collector

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR Fixup

Signed-off-by: Stephen Brawner <brawner@gmail.com>
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Commits on Oct 7, 2020

  1. [foxy backport] Derive and throw exception in spin_some spin_all for … 

    …StaticSingleThreadedExecutor (#1385)

* Derive and throw exception in spin_some spin_all for StaticSingleThreadedExecutor (#1220)

* Derive and throw exception in spin_some spin_all

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Fix style and add unit test

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Remove header changes and throw exceptions in .cpp

Signed-off-by: Stephen Brawner <brawner@gmail.com>
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  2. [foxy backport] Parameterize test executors for all executor types (#… 

    …1222) (#1386)

* Parameterize test executors for all executor types (#1222)

* Relocate test_executor to executors directory

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Parametrize test_executors for all executor types

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR Fixup

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* More fixup

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Fixup

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Adding issue for tracking

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Remove tests for non-foxy API

Signed-off-by: Stephen Brawner <brawner@gmail.com>
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  3. EXPECT_THROW_EQ and ASSERT_THROW_EQ macros for unittests (#1232) 

    * EXPECT_THROW_EQ and ASSERT_THROW_EQ macros for unittests

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Address PR Feedback

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  4. Unittests for memory strategy files, except allocator_memory_strategy (… 

    …#1189)

* Unit tests for memory_strategy classes (part 1)

Adds unit tests for:
* strategies/message_pool_memory_strategy.hpp
* memory_strategy.cpp
* message_memory_strategy.cpp

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Address PR Feedback

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Update with new macros

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  5. fix node graph test with Connext and CycloneDDS returning actual data (… 

    …#1245)

* fix node graph test with Connext and CycloneDDS returning actual data

Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>

* use ADD_FAILURE()

Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>
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  6. fix failing test with Connext since it doesn't wait for discovery (#1246 

    )

* fix failing test with Connext since it doesn't wait for discovery

Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>

* Check for added service in the node graph

Signed-off-by: Stephen Brawner <brawner@gmail.com>

Co-authored-by: Stephen Brawner <brawner@gmail.com>
    @dirk-thomas @brawner
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  7. Adjust test_static_executor_entities_collector for rmw_connext_cpp (#… 

    …1251)

It turns out rmw_connext_cpp adds a default waitable that other rmw
implementations do not. Adjusting the unit test to take this into
account in a non-rmw specific manner.

Signed-off-by: Stephen Brawner <brawner@gmail.com>
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  8. Increase timeouts for connext for long tests (#1253) 

    * Increase timeouts for connext for long tests

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Fix cmakelists

Signed-off-by: Stephen Brawner <brawner@gmail.com>
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  9. Simplify and fix allocator memory strategy unit test for connext (#1252) 

    * Fix allocator memory strategy for connext

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR Feedback

Signed-off-by: Stephen Brawner <brawner@gmail.com>
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  10. Ability to configure domain_id via InitOptions. (#1165) 

    Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com>

Remove non-foxy api changes

Signed-off-by: Stephen Brawner <brawner@gmail.com>
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  11. initialize_logging_ should be copied. (#1272) 

    Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com>
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  12. Fixes for unit tests that fail under cyclonedds (#1270) 

    Addresses #1268 and #1269

Signed-off-by: Stephen Brawner <brawner@gmail.com>
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  13. fix topic stats test, wait for more messages, only check the ones wit… 

    …h samples (#1274)

Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>
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  14. Refactor Subscription Topic Statistics Tests (#1281) 

    * Add check for the correct number of messages received

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Refactor duplicate code into functions
Add random jitter to generate non-zero standard deviation values

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Fix warning

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Fix conversion warnings

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Fix style issues

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
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  15. Adding tests basic getters (#1291) 

    * Add tests serialize functions
* Add test getter const get_service_handle
* Add basic tests getters publisher
* Add == operator tests
* Improve check on QOS depth
* Remove extra line, copy directly string
* Expect specific error throws

Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>
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  16. Replace std_msgs with test_msgs in executors test (#1310) 

    Without this change, I am unable to build locally.
std_msgs is not declared as a test dependency or find_package'd anywhere, so
I'm not sure why CI ever passed the build phase.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
    @jacobperron @brawner
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  17. Add tests type_support module (#1308) 

    * Add tests getters msg type support
* Add missing fini
* Add tests type_support services
* Reformat to re use test structure
* Remove not needed headers
* Improve teardown test cases
* Add nullptr checks to type_support tests
* Reformat type_support testing
* Replace expect tests with asserts
* "Improve error msg for rcl_service_ini/fini fail"
* Improve test readability

Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>
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  18. Add coverage for wait_set_policies (#1316) 

    * Add mocking utils for rclcpp

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Add coverage for wait_set_policies

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Address PR feedback

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Fix windows issues

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Add test comment

Signed-off-by: Stephen Brawner <brawner@gmail.com>
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  19. Increase coverage of node_interfaces, including with mocking rcl erro… 

    …rs (#1322)

* Increase coverage of node_interfaces, including with mocking rcl errors

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR Fixup

Signed-off-by: Stephen Brawner <brawner@gmail.com>
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  20. Add coverage tests context functions (#1321) 

    * Add basic tests context access
* Add expected interrupt_guard get/release
* Add mocking utilities to rclcpp
* Add tests interrupt_guard_condition
* Add tests ini/fini error context
* Add destructor test error
* Create context directly in block* Use scope exit to clean context

Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>
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  21. Add coverage for missing API (except executors) (#1326) 

    * Add coverage for missing API (except executors

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR Fixup

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Do not check state

Signed-off-by: Stephen Brawner <brawner@gmail.com>
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  22. Increase coverage of publisher/subscription API (#1325) 

    * Increase coverage of publisher/subscription API

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR Feedback

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Commits on Oct 9, 2020

  1. [foxy backport] Add ostream test for FutureReturnCode (#1327) (#1393) 

    * Remove deprecated executor::FutureReturnCode APIs. (#1327)

While we are here, add in another test for the stream operator for future_return_code.cpp

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

* Revert removing deprecated API

Signed-off-by: Stephen Brawner <brawner@gmail.com>

Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>
    @brawner @clalancette
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  2. Increase service coverage (#1332) 

    Signed-off-by: Stephen Brawner <brawner@gmail.com>
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  3. Add coverage for client API (#1329) 

    * Add coverage for client API

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR feedback

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR Feedback

Signed-off-by: Stephen Brawner <brawner@gmail.com>
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  4. [foxy backport] Add executor unit tests #1336 (#1395) 

    * Improve the error messages in the Executor class.

In particular, make sure to use 'throw_from_rcl_error'
as much as possible.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

* Allow mimick patching of methods with up to 9 arguments.

This will be needed by the executor tests.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

* Add in unit tests for the Executor class.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

* Adjust test_executor for foxy

Signed-off-by: Stephen Brawner <brawner@gmail.com>

Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>
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  5. Add coverage tests graph_listener (#1330) 

    * Add file to test graph_listener
* Add tests start graph listener
* Add tests errors run graph listener
* Add tests add/remove node
* Remove dynamic cast
* Remove repeated line
* Remove comment
* Add reset to avoid warning
* Add checks construction graph listener
* Add tests shutdown
* Change node_graph definition
* Remove test failing MacOS
* Remove test not working on Windows

Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>
    @Blast545 @brawner
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  6. Add in more coverage for expand_topic_or_service_name. (#1346) 

    This gets this file up to 97% coverage.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
    @clalancette @brawner
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  7. Add tests for node_options API (#1343) 

    * Add tests for node_options API

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Remove c-style casts

Signed-off-by: Stephen Brawner <brawner@gmail.com>
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  8. Add in two more tests for expand_topic_or_service_name. (#1350) 

    This gets us to 100% line coverage.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
    @clalancette @brawner
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  9. Add in more tests for the utilities. (#1349) 

    * Add in more tests for the utilities.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
    @clalancette @brawner
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  10. Complete coverage of Parameter and ParameterValue API (#1344) 

    * Complete coverage of Parameter and ParameterValue API

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Adding comments

Signed-off-by: Stephen Brawner <brawner@gmail.com>
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  11. Test the remaining node public API (#1342) 

    * Test the remaining node public API

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Address PR feedback

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Add comment

Signed-off-by: Stephen Brawner <brawner@gmail.com>
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  12. Add in more tests for init_options coverage. (#1353) 

    Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
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  13. Improved test_subscription_options (#1358) 

    * Improved test_subscription_options

Signed-off-by: ahcorde <ahcorde@gmail.com>

* used RCLCPP_EXPECT_THROW_EQ in test_subcription_options

Signed-off-by: ahcorde <ahcorde@gmail.com>

* make linters happy

Signed-off-by: ahcorde <ahcorde@gmail.com>
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  14. Covered resolve_use_intra_process (#1359) 

    * Covered resolve_use_intra_process

Signed-off-by: ahcorde <ahcorde@gmail.com>

* used RCLCPP_EXPECT_THROW_EQ in test_subscription_throws_intraprocess

Signed-off-by: ahcorde <ahcorde@gmail.com>
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  15. Improved test publisher - zero qos history depth value exception (#1360) 

    Signed-off-by: ahcorde <ahcorde@gmail.com>
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  16. Minor fixes to the parameter_service.cpp file. 

    Make sure to #include what is used, and also fix a typo
in a test.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
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  17. Add in additional tests for parameter_client.cpp coverage. 

    This gets us to 96% line coverage.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
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  18. Add timer coverage tests (#1363) 

    * Add missing tests API
* Reformat style error throw
* Add internal errors tests

Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>
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  19. Add time API coverage tests (#1347) 

    * Change value used as max representation
* Add coverage tests time
* Add call to detach clock
* Add tests time
* Add duration construction tests
* Add const qualifier to constants
* Add check clock stays the same
* Make operator RCLCPP_PUBLIC
* Add tests exceptions duration
* Fix division by 0 on windows

Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>
    @Blast545 @brawner
    Blast545 authored and brawner committed Oct 9, 2020
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  20. Add test for ParameterService (#1355) 

    * Add test for ParameterService

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Address PR feedback

Signed-off-by: Stephen Brawner <brawner@gmail.com>
    @brawner
    brawner committed Oct 9, 2020
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  21. Only exchange intra_process waitable if nonnull (#1317) 

    Signed-off-by: Stephen Brawner <brawner@gmail.com>
    @brawner
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  22. Finish API coverage on executors. (#1364) 

    In particular, add API coverage for spin_node_until_future_complete,
spin_until_future_complete, and spin_node_once.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
    @clalancette @brawner
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  23. Finish coverage of publisher API (#1365) 

    Signed-off-by: Stephen Brawner <brawner@gmail.com>
    @brawner
    brawner committed Oct 9, 2020
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  24. Add unit tests for qos and qos_event files (#1352) 

    * Add unit tests for qos and qos_event files

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR Feedback

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Address PR Feedback

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Fix windows CI

Signed-off-by: Stephen Brawner <brawner@gmail.com>
    @brawner
    brawner committed Oct 9, 2020
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  25. Tests for LoanedMessage with mocked loaned message publisher (#1366) 

    Signed-off-by: Stephen Brawner <brawner@gmail.com>
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  26. Increase coverage of guard_condition.cpp to 100% (#1369) 

    Signed-off-by: Stephen Brawner <brawner@gmail.com>
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    brawner committed Oct 9, 2020
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  27. Increase coverage of WaitSetTemplate (#1368) 

    * Increase coverage of WaitSetTemplate

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR fixup

Signed-off-by: Stephen Brawner <brawner@gmail.com>
    @brawner
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  28. Make sure to clean the external client/service handle. (#1296) 

    Signed-off-by: Chen Lihui <Lihui.Chen@sony.com>
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Commits on Oct 15, 2020

  1. Increase test timeouts of slow running tests with rmw_connext_cpp (#1400 

    )

* Increase test timeouts of slow running tests with rmw_connext_cpp

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Fix other issues with connext

Signed-off-by: Stephen Brawner <brawner@gmail.com>
    @brawner
    brawner committed Oct 15, 2020
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Commits on Oct 16, 2020

  1. Clear members for StaticExecutorEntitiesCollector to avoid shared_ptr… 

    … dependency (#1303)

* Clear members for StaticExecutorEntitiesCollector to avoid shared_ptr dependency

Signed-off-by: Chen Lihui <Lihui.Chen@sony.com>
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>
Signed-off-by: Stephen Brawner <brawner@gmail.com>
    @clalancette @brawner
    2 people authored and brawner committed Oct 16, 2020
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