diff --git a/rclpy/test/test_service_introspection.py b/rclpy/test/test_service_introspection.py index 802a0b6a4..0971d2a69 100644 --- a/rclpy/test/test_service_introspection.py +++ b/rclpy/test/test_service_introspection.py @@ -58,8 +58,7 @@ def test_service_introspection_nominal(self): self.executor.spin_until_future_complete(future) # Wait for the service event messages to be published (this screams flaky...) - for _ in range(10): - self.executor.spin_once(0.1) + self.executor.spin_some(1.0) self.assertEqual(len(self.event_messages), 4) result_dict = {} @@ -85,19 +84,17 @@ def test_enable_disable_service_events(self): Parameter('publish_client_events', Parameter.Type.BOOL, False)]) future = self.cli.call_async(req) self.executor.spin_until_future_complete(future) - for _ in range(10): - self.executor.spin_once(0.1) + self.executor.spin_some(1.0) self.assertEqual(len(self.event_messages), 0) - self.event_messages = [] + self.event_messages = [] # spin until container size? result_dict = {} self.node.set_parameters([ Parameter('publish_service_events', Parameter.Type.BOOL, True), Parameter('publish_client_events', Parameter.Type.BOOL, False)]) future = self.cli.call_async(req) self.executor.spin_until_future_complete(future) - for _ in range(10): - self.executor.spin_once(0.1) + self.executor.spin_some(1.0) self.assertEqual(len(self.event_messages), 2) for msg in self.event_messages: result_dict[msg.info.event_type] = msg @@ -115,8 +112,7 @@ def test_enable_disable_service_events(self): Parameter('publish_client_events', Parameter.Type.BOOL, True)]) future = self.cli.call_async(req) self.executor.spin_until_future_complete(future) - for _ in range(10): - self.executor.spin_once(0.1) + self.executor.spin_some(1.0) self.assertEqual(len(self.event_messages), 2) for msg in self.event_messages: result_dict[msg.info.event_type] = msg @@ -137,8 +133,7 @@ def test_enable_disable_service_event_payload(self): Parameter('publish_client_content', Parameter.Type.BOOL, False)]) future = self.cli.call_async(req) self.executor.spin_until_future_complete(future) - for _ in range(10): - self.executor.spin_once(0.1) + self.executor.spin_some(1.0) self.assertEqual(len(self.event_messages), 4) for i in self.event_messages: self.assertEqual(len(i.request), 0) @@ -150,8 +145,7 @@ def test_enable_disable_service_event_payload(self): Parameter('publish_client_content', Parameter.Type.BOOL, False)]) future = self.cli.call_async(req) self.executor.spin_until_future_complete(future) - for _ in range(10): - self.executor.spin_once(0.1) + self.executor.spin_some(0.1) self.assertEqual(len(self.event_messages), 4) for i in self.event_messages: if i.info.event_type == ServiceEventInfo.REQUEST_RECEIVED: @@ -167,8 +161,7 @@ def test_enable_disable_service_event_payload(self): Parameter('publish_client_content', Parameter.Type.BOOL, True)]) future = self.cli.call_async(req) self.executor.spin_until_future_complete(future) - for _ in range(10): - self.executor.spin_once(0.1) + self.executor.spin_some(1.0) self.assertEqual(len(self.event_messages), 4) for i in self.event_messages: if i.info.event_type == ServiceEventInfo.REQUEST_SENT: