Ignore a connext output caused by small depth in pendulum_control tes…

…ts (#156)

pendulum_control/test/test_pendulum_demo.py.in

@@ -9,6 +9,7 @@ from launch.launcher import DefaultLauncher
 from launch.output_handler import ConsoleOutput
 
 from launch_testing import create_handler
+from launch_testing import get_default_filtered_prefixes
 
 
 def setup():
@@ -23,7 +24,7 @@ def test_executable():
     rmw_implementation = '@rmw_implementation@'
     pendulum_logger_executable = '@RCLCPP_DEMO_PENDULUM_LOGGER_EXECUTABLE@'
     pendulum_logger_output_file = '@RCLCPP_DEMO_PENDULUM_LOGGER_EXPECTED_OUTPUT@'
-    pendulum_logger_name = 'test_executable_0'
+    pendulum_logger_name = 'pendulum_logger'
     pendulum_logger_handler = create_handler(pendulum_logger_name, launch_descriptor, pendulum_logger_output_file)
     assert pendulum_logger_handler, 'Cannot find appropriate handler for %s' % pendulum_logger_output_file
     output_handlers.append(pendulum_logger_handler)
@@ -36,9 +37,19 @@ def test_executable():
 
     pendulum_demo_executable = '@RCLCPP_DEMO_PENDULUM_DEMO_EXECUTABLE@'
     pendulum_demo_output_file = '@RCLCPP_DEMO_PENDULUM_DEMO_EXPECTED_OUTPUT@'
-    pendulum_demo_name = 'test_executable_1'
+    pendulum_demo_name = 'pendulum_demo'
+
+    filtered_prefixes = get_default_filtered_prefixes()
+    if rmw_implementation.startswith('rmw_connext'):
+        # This output can be caused by a small QoS depth leading to samples being discarded.
+        # Since we are optimizing for performance with a depth of 1, we can ignore it.
+        filtered_prefixes.append(
+            b'PRESWriterHistoryDriver_completeBeAsynchPub:!make_sample_reclaimable'
+        )
+
     pendulum_demo_handler = create_handler(
         pendulum_demo_name, launch_descriptor, pendulum_demo_output_file,
+        filtered_prefixes=filtered_prefixes,
         filtered_rmw_implementation=rmw_implementation)
     assert pendulum_demo_handler, 'Cannot find appropriate handler for %s' % pendulum_demo_output_file
     output_handlers.append(pendulum_demo_handler)

pendulum_control/test/test_pendulum_teleop.py.in

@@ -10,6 +10,7 @@ from launch.launcher import DefaultLauncher
 from launch.output_handler import ConsoleOutput
 
 from launch_testing import create_handler
+from launch_testing import get_default_filtered_prefixes
 
 
 def setup():
@@ -24,7 +25,7 @@ def test_executable():
     rmw_implementation = '@rmw_implementation@'
     pendulum_demo_executable = '@RCLCPP_DEMO_PENDULUM_DEMO_EXECUTABLE@'
     pendulum_demo_output_file = '@RCLCPP_DEMO_PENDULUM_DEMO_TELEOP_EXPECTED_OUTPUT@'
-    pendulum_demo_name = 'test_executable_0'
+    pendulum_demo_name = 'pendulum_demo'
     pendulum_demo_handler = create_handler(pendulum_demo_name, launch_descriptor, pendulum_demo_output_file)
     assert pendulum_demo_handler, 'Cannot find appropriate handler for %s' % pendulum_demo_output_file
     output_handlers.append(pendulum_demo_handler)
@@ -37,9 +38,19 @@ def test_executable():
 
     pendulum_teleop_executable = '@RCLCPP_DEMO_PENDULUM_TELEOP_EXECUTABLE@'
     pendulum_teleop_output_file = '@RCLCPP_DEMO_PENDULUM_TELEOP_EXPECTED_OUTPUT@'
-    pendulum_teleop_name = 'test_executable_1'
+    pendulum_teleop_name = 'pendulum_teleop'
+
+    filtered_prefixes = get_default_filtered_prefixes()
+    if rmw_implementation.startswith('rmw_connext'):
+        # This output can be caused by a small QoS depth leading to samples being discarded.
+        # Since we are optimizing for performance with a depth of 1, we can ignore it.
+        filtered_prefixes.append(
+            b'PRESWriterHistoryDriver_completeBeAsynchPub:!make_sample_reclaimable'
+        )
+
     pendulum_teleop_handler = create_handler(
         pendulum_teleop_name, launch_descriptor, pendulum_teleop_output_file,
+        filtered_prefixes=filtered_prefixes,
         filtered_rmw_implementation=rmw_implementation)
     assert pendulum_teleop_handler, 'Cannot find appropriate handler for %s' % pendulum_teleop_output_file
     output_handlers.append(pendulum_teleop_handler)