Add a simple test for wait_for_all_acked

Signed-off-by: Barry Xu <barry.xu@sony.com>

test_rmw_implementation/test/test_publisher.cpp

@@ -527,6 +527,38 @@ TEST_F(CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION), publish_serialized_with_
   });
 }
 
+TEST_F(CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION), wait_for_all_acked_with_best_effort) {
+  test_msgs__msg__BasicTypes input_message{};
+  ASSERT_TRUE(test_msgs__msg__BasicTypes__init(&input_message));
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    test_msgs__msg__BasicTypes__fini(&input_message);
+  });
+
+  rmw_subscription_options_t options = rmw_get_default_subscription_options();
+  rmw_subscription_t * sub = rmw_create_subscription(node, ts, topic_name, &qos_profile, &options);
+  ASSERT_NE(nullptr, sub) << rmw_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rmw_ret_t ret = rmw_destroy_subscription(node, sub);
+    EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+  });
+
+  size_t subscription_count = 0u;
+  rmw_ret_t ret = rmw_publisher_count_matched_subscriptions(pub, &subscription_count);
+  ASSERT_EQ(subscription_count, static_cast<size_t>(1));
+
+  ret = rmw_publish(pub, &input_message, nullptr);
+  ASSERT_EQ(ret, RMW_RET_OK);
+
+  // For best effort, alway return RMW_RET_OK immediately
+  ret = rmw_publisher_wait_for_all_acked(pub, {0, 0});
+  EXPECT_EQ(ret, RMW_RET_OK);
+
+  ret = rmw_publisher_wait_for_all_acked(nullptr, {0, 0});
+  EXPECT_EQ(ret, RMW_RET_INVALID_ARGUMENT);
+}
+
 
 class CLASSNAME (TestPublisherUseLoan, RMW_IMPLEMENTATION)
   : public CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION)