Fix tests

rosbot_bringup/test/test_multirobot.py

@@ -18,7 +18,7 @@
 import pytest
 import rclpy
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription
+from launch.actions import IncludeLaunchDescription, TimerAction
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import PathJoinSubstitution
 from launch_ros.substitutions import FindPackageShare
@@ -31,7 +31,7 @@
 def generate_test_description():
     rosbot_bringup = FindPackageShare("rosbot_bringup")
     actions = []
-    for robot_name in robot_names:
+    for i in range(len(robot_names)):
         bringup_launch = IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
                 PathJoinSubstitution(
@@ -45,26 +45,28 @@ def generate_test_description():
             launch_arguments={
                 "use_sim": "False",
                 "mecanum": "False",
-                "namespace": robot_name,
+                "namespace": robot_names[i],
             }.items(),
         )
 
-        actions.append(bringup_launch)
+        delayed_bringup = TimerAction(period=5.0*i, actions=[bringup_launch])
+        actions.append(delayed_bringup)
 
     return LaunchDescription(actions)
 
 
 @pytest.mark.launch(fixture=generate_test_description)
 def test_multirobot_bringup_startup_success():
-    rclpy.init()
-    try:
-        for robot_name in robot_names:
+
+    for robot_name in robot_names:
+        rclpy.init()
+        try:
             node = BringupTestNode("test_bringup", namespace=robot_name)
             node.create_test_subscribers_and_publishers()
             node.start_publishing_fake_hardware()
 
             node.start_node_thread()
-            readings_data_test(node)
+            readings_data_test(node, robot_name)
 
-    finally:
-        rclpy.shutdown()
+        finally:
+            rclpy.shutdown()

rosbot_bringup/test/test_utils.py

@@ -100,12 +100,6 @@ def publish_fake_hardware_messages(self):
 
 
 def wait_for_all_events(events, timeout):
-    """
-    Wait for all specified events to be set within a given timeout.
-    :param events: List of Event objects to wait for.
-    :param timeout: Maximum time (in seconds) to wait.
-    :return: (bool, list) where the first value indicates success, and the second is a list of indices of events that were not set.
-    """
     start_time = time.time()
     while time.time() - start_time < timeout:
         if all(event.is_set() for event in events):
@@ -132,7 +126,7 @@ def readings_data_test(node, robot_name="ROSbot"):
         "EKF Odometry",
     ]
 
-    msgs_received_flag, not_set_indices = wait_for_all_events(events, timeout=30.0)
+    msgs_received_flag, not_set_indices = wait_for_all_events(events, timeout=20.0)
 
     if not msgs_received_flag:
         not_set_event_names = [event_names[i] for i in not_set_indices]