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zenoh: Increased timeout for test_rcl_lifecycle #1185

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zenoh: Increased timeout for test_rcl_lifecycle #1185

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1 change: 1 addition & 0 deletions rcl_lifecycle/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -104,6 +104,7 @@ if(BUILD_TESTING)
endif()
ament_add_gtest(test_rcl_lifecycle
test/test_rcl_lifecycle.cpp
TIMEOUT 400
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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?

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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.

)
if(TARGET test_rcl_lifecycle)
target_link_libraries(test_rcl_lifecycle
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