Remove launch testing timeout marker (#552) (#554)

* Increase cm update rate to decrease startup time * Remove startup delay marker (cherry picked from commit bf42a4e) Co-authored-by: Christoph Fröhlich <[email protected]>
ros-controls · Jul 31, 2024 · 98b2d07 · 98b2d07
1 parent 5e600cf
commit 98b2d07
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Showing 2 changed files with 2 additions and 6 deletions.
diff --git a/example_10/bringup/config/rrbot_controllers.yaml b/example_10/bringup/config/rrbot_controllers.yaml
@@ -1,6 +1,6 @@
 controller_manager:
   ros__parameters:
-    update_rate: 1  # Hz
+    update_rate: 10  # Hz
 
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster

diff --git a/example_10/test/test_rrbot_launch.py b/example_10/test/test_rrbot_launch.py
@@ -38,7 +38,6 @@
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_testing.actions import ReadyToTest
 
-import launch_testing
 import rclpy
 from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
@@ -50,11 +49,8 @@
 
 # This function specifies the processes to be run for our test
 # The ReadyToTest action waits for 15 second by default for the processes to
-# start, if processes take more time an error is thrown. We use decorator here
-# to provide timeout duration of 20 second so that processes that take longer than
-# 15 seconds can start up.
+# start, if processes take more time an error is thrown.
 @pytest.mark.launch_test
-@launch_testing.ready_to_test_action_timeout(20)
 def generate_test_description():
     launch_include = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(