zenoh: Increased timeout for test_rcl_lifecycle

[ahcorde]

No description provided.

[fujitatomoya]

400 secs is the longest timeout for the test in rcl...

with my local environment with rmw_fastrtps_cpp, it can complete the test in 3 seconds.

root@tomoyafujita:~/ros2_ws/colcon_ws# colcon test --event-handlers console_direct+ --packages-select rcl_lifecycle --ctest-args -R test_rcl_lifecycle
...
The following tests passed:
        test_rcl_lifecycle

100% tests passed, 0 tests failed out of 1

Label Time Summary:
gtest    =   1.81 sec*proc (1 test)

Total Test time (real) =   1.81 sec
Finished <<< rcl_lifecycle [2.48s]

Summary: 1 package finished [3.67s]

I am not sure if this is the correct thing to do... maybe something wrong with rmw_zenoh instead?

[clalancette]

I am not sure if this is the correct thing to do... maybe something wrong with rmw_zenoh instead?

There is definitely a bug in rmw_zenoh that needs to be addressed here. In particular, it can take up to 1.5 seconds to complete a connection between rmw_zenoh and the router, and rmw_init is blocked during that time.

For reference, rmw_init in for example rmw_fastrtps returns in something like a millisecond, so the delta here is huge. We really need to fix rmw_zenoh/Zenoh proper to make this connection timeout much smaller.

[Yadunund]

I haven't been able to reproduce this test failure on my machine with the latest rolling branches for both rmw_zenoh and this repo.

I run all the tests

colcon test --event-handlers console_direct+ --packages-select rcl_lifecycle 

On my machine the 4 gtests takes about 42 with rmw_zenoh/rolling

100% tests passed, 0 tests failed out of 10

Label Time Summary:
copyright     =   3.40 sec*proc (1 test)
cppcheck      =   0.51 sec*proc (1 test)
cpplint       =   1.21 sec*proc (1 test)
gtest         =  42.31 sec*proc (4 tests)
lint_cmake    =   0.46 sec*proc (1 test)
linter        =   7.36 sec*proc (6 tests)
uncrustify    =   0.59 sec*proc (1 test)
xmllint       =   1.18 sec*proc (1 test)

Total Test time (real) =  49.68 sec
Finished <<< rcl_lifecycle [51.0s]            

Summary: 1 package finished [52.6s]

With rmw_fastrtps, it takes 2s.

100% tests passed, 0 tests failed out of 10

Label Time Summary:
copyright     =   3.37 sec*proc (1 test)
cppcheck      =   0.48 sec*proc (1 test)
cpplint       =   1.18 sec*proc (1 test)
gtest         =   2.18 sec*proc (4 tests)
lint_cmake    =   0.46 sec*proc (1 test)
linter        =   6.91 sec*proc (6 tests)
uncrustify    =   0.59 sec*proc (1 test)
xmllint       =   0.82 sec*proc (1 test)

Total Test time (real) =   9.09 sec
Finished <<< rcl_lifecycle [10.4s]            

Summary: 1 package finished [11.9s]

I opened ros2/rmw_zenoh#284 to reduce the sleep in rmw_init in rmw_zenoh and now the test only takes 30s with rmw_zenoh.

100% tests passed, 0 tests failed out of 10

Label Time Summary:
copyright     =   3.39 sec*proc (1 test)
cppcheck      =   0.50 sec*proc (1 test)
cpplint       =   1.18 sec*proc (1 test)
gtest         =  30.20 sec*proc (4 tests)
lint_cmake    =   0.47 sec*proc (1 test)
linter        =   7.03 sec*proc (6 tests)
uncrustify    =   0.60 sec*proc (1 test)
xmllint       =   0.89 sec*proc (1 test)

Total Test time (real) =  37.24 sec
Finished <<< rcl_lifecycle [38.5s]            

Summary: 1 package finished [40.1s]

It's a slight improvement. @ahcorde could you confirm that this test still fails on rolling for your and if so, does my PR improve the situation?

[ahcorde]

Thank you @Yadunund !