Remove fastrtps customization on tests (#1887)

Signed-off-by: Miguel Company <[email protected]>
ros2 · Feb 22, 2022 · c5a16dc · c5a16dc
1 parent 4f77819
commit c5a16dc
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Showing 2 changed files with 15 additions and 38 deletions.
diff --git a/rclcpp/test/rclcpp/strategies/test_allocator_memory_strategy.cpp b/rclcpp/test/rclcpp/strategies/test_allocator_memory_strategy.cpp
@@ -497,14 +497,8 @@ TEST_F(TestAllocatorMemoryStrategy, add_remove_waitables) {
 TEST_F(TestAllocatorMemoryStrategy, number_of_entities_with_subscription) {
   RclWaitSetSizes expected_sizes = {};
   expected_sizes.size_of_subscriptions = 1;
-  const std::string implementation_identifier = rmw_get_implementation_identifier();
-  if (implementation_identifier == "rmw_cyclonedds_cpp" ||
-    implementation_identifier == "rmw_connextdds")
-  {
-    // For cyclonedds and connext, a subscription will also add an event and waitable
-    expected_sizes.size_of_events += 1;
-    expected_sizes.size_of_waitables += 1;
-  }
+  expected_sizes.size_of_events = 1;
+  expected_sizes.size_of_waitables = 1;
   auto node_with_subscription = create_node_with_subscription("subscription_node");
   EXPECT_TRUE(TestNumberOfEntitiesAfterCollection(node_with_subscription, expected_sizes));
 }

diff --git a/rclcpp/test/rclcpp/test_qos_event.cpp b/rclcpp/test/rclcpp/test_qos_event.cpp
@@ -37,9 +37,6 @@ class TestQosEvent : public ::testing::Test
 
   void SetUp()
   {
-    is_fastrtps =
-      std::string(rmw_get_implementation_identifier()).find("rmw_fastrtps") != std::string::npos;
-
     node = std::make_shared<rclcpp::Node>("test_qos_event", "/ns");
 
     message_callback = [node = node.get()](test_msgs::msg::Empty::ConstSharedPtr /*msg*/) {
@@ -54,7 +51,6 @@ class TestQosEvent : public ::testing::Test
 
   static constexpr char topic_name[] = "test_topic";
   rclcpp::Node::SharedPtr node;
-  bool is_fastrtps;
   std::function<void(test_msgs::msg::Empty::ConstSharedPtr)> message_callback;
 };
 
@@ -101,12 +97,8 @@ TEST_F(TestQosEvent, test_publisher_constructor)
         "Offered incompatible qos - total %d (delta %d), last_policy_kind: %d",
         event.total_count, event.total_count_change, event.last_policy_kind);
     };
-  try {
-    publisher = node->create_publisher<test_msgs::msg::Empty>(
-      topic_name, 10, options);
-  } catch (const rclcpp::UnsupportedEventTypeException & /*exc*/) {
-    EXPECT_TRUE(is_fastrtps);
-  }
+  publisher = node->create_publisher<test_msgs::msg::Empty>(
+    topic_name, 10, options);
 }
 
 /*
@@ -151,12 +143,8 @@ TEST_F(TestQosEvent, test_subscription_constructor)
         "Requested incompatible qos - total %d (delta %d), last_policy_kind: %d",
         event.total_count, event.total_count_change, event.last_policy_kind);
     };
-  try {
-    subscription = node->create_subscription<test_msgs::msg::Empty>(
-      topic_name, 10, message_callback, options);
-  } catch (const rclcpp::UnsupportedEventTypeException & /*exc*/) {
-    EXPECT_TRUE(is_fastrtps);
-  }
+  subscription = node->create_subscription<test_msgs::msg::Empty>(
+    topic_name, 10, message_callback, options);
 }
 
 /*
@@ -210,22 +198,17 @@ TEST_F(TestQosEvent, test_default_incompatible_qos_callbacks)
   ex.add_node(node->get_node_base_interface());
 
   // This future won't complete on fastrtps, so just timeout immediately
-  const auto timeout = (is_fastrtps) ? std::chrono::milliseconds(5) : std::chrono::seconds(10);
+  const auto timeout = std::chrono::seconds(10);
   ex.spin_until_future_complete(log_msgs_future, timeout);
 
-  if (is_fastrtps) {
-    EXPECT_EQ("", pub_log_msg);
-    EXPECT_EQ("", sub_log_msg);
-  } else {
-    EXPECT_EQ(
-      "New subscription discovered on topic '/ns/test_topic', requesting incompatible QoS. "
-      "No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY",
-      pub_log_msg);
-    EXPECT_EQ(
-      "New publisher discovered on topic '/ns/test_topic', offering incompatible QoS. "
-      "No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY",
-      sub_log_msg);
-  }
+  EXPECT_EQ(
+    "New subscription discovered on topic '/ns/test_topic', requesting incompatible QoS. "
+    "No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY",
+    pub_log_msg);
+  EXPECT_EQ(
+    "New publisher discovered on topic '/ns/test_topic', offering incompatible QoS. "
+    "No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY",
+    sub_log_msg);
 
   rcutils_logging_set_output_handler(original_output_handler);
 }