[CI] test_force_torque_sensor_broadcaster regularily times out

[christophfroehlich]

test_results/force_torque_sensor_broadcaster/test_force_torque_sensor_broadcaster.gtest.xml
2025-03-06T02:46:41.8447062Z 2: [==========] Running 13 tests from 1 test suite.
2025-03-06T02:46:41.8447487Z 2: [----------] Global test environment set-up.
2025-03-06T02:46:41.8447818Z 2: [----------] 13 tests from ForceTorqueSensorBroadcasterTest
2025-03-06T02:46:41.8448266Z 2: [ RUN      ] ForceTorqueSensorBroadcasterTest.SensorName_InterfaceNames_NotSet
2025-03-06T02:46:41.8449075Z 2: [ERROR] [1741229141.866531381] [test_force_torque_sensor_broadcaster]: 'sensor_name' or at least one 'interface_names.[force|torque].[x|y|z]' parameter has to be specified.
2025-03-06T02:46:41.8449907Z 2: [       OK ] ForceTorqueSensorBroadcasterTest.SensorName_InterfaceNames_NotSet (12 ms)
2025-03-06T02:46:41.8450451Z 2: [ RUN      ] ForceTorqueSensorBroadcasterTest.SensorName_InterfaceNames_Set
2025-03-06T02:46:41.8451315Z 2: [ERROR] [1741229141.872119148] [test_force_torque_sensor_broadcaster]: both 'sensor_name' and 'interface_names.[force|torque].[x|y|z]' parameters can not be specified together.
2025-03-06T02:46:41.8452133Z 2: [       OK ] ForceTorqueSensorBroadcasterTest.SensorName_InterfaceNames_Set (5 ms)
2025-03-06T02:46:41.8452710Z 2: [ RUN      ] ForceTorqueSensorBroadcasterTest.SensorName_IsEmpty_InterfaceNames_NotSet
2025-03-06T02:46:41.8453534Z 2: [ERROR] [1741229141.876958103] [test_force_torque_sensor_broadcaster]: 'sensor_name' or at least one 'interface_names.[force|torque].[x|y|z]' parameter has to be specified.
2025-03-06T02:46:41.8454478Z 2: [       OK ] ForceTorqueSensorBroadcasterTest.SensorName_IsEmpty_InterfaceNames_NotSet (5 ms)
2025-03-06T02:46:41.8455083Z 2: [ RUN      ] ForceTorqueSensorBroadcasterTest.InterfaceNames_IsEmpty_SensorName_NotSet
2025-03-06T02:46:41.8455904Z 2: [ERROR] [1741229141.881561407] [test_force_torque_sensor_broadcaster]: 'sensor_name' or at least one 'interface_names.[force|torque].[x|y|z]' parameter has to be specified.
2025-03-06T02:46:41.8456757Z 2: [       OK ] ForceTorqueSensorBroadcasterTest.InterfaceNames_IsEmpty_SensorName_NotSet (5 ms)
2025-03-06T02:46:41.8457322Z 2: [ RUN      ] ForceTorqueSensorBroadcasterTest.SensorName_Configure_Success
2025-03-06T02:46:41.8457840Z 2: [       OK ] ForceTorqueSensorBroadcasterTest.SensorName_Configure_Success (6 ms)
2025-03-06T02:46:41.8458372Z 2: [ RUN      ] ForceTorqueSensorBroadcasterTest.InterfaceNames_Configure_Success
2025-03-06T02:46:41.8458863Z 2/2 Test #2: test_force_torque_sensor_broadcaster ........***Timeout  60.04 sec

[Juliaj]

@christophfroehlich , I'm interested in looking into this, a good opportunity for me to learn another controller.

Just for my knowledge, the **Timeout 60.04 sec in the note above was a timeout from running entire test suite or was it a result from a single long running test?

[christophfroehlich]

This is from tests in the CI.
normally the test runs only for a couple of seconds, but sometimes it gets stuck and runs in the timeout.

[christophfroehlich]

This PID controller issue looks similar (jazzy)
https://github.com/ros-controls/ros2_control_ci/actions/runs/13868494155/job/38811899016

[christophfroehlich]

See #1608 with a similar issue

[christophfroehlich]

Still happening, but ros-controls/ros2_control#2142 is not released yet
https://github.com/ros-controls/ros2_controllers/actions/runs/14256953898/job/39961242259

[christophfroehlich]

#1628

[christophfroehlich]

Still fails on jazzy branch :/ #1629

[saikishor]

@Juliaj I've checked the code and I think it might be caused by lock of RTPublisher : (https://github.com/ros-controls/ros2_controllers/blob/master/force_torque_sensor_broadcaster%2Fsrc%2Fforce_torque_sensor_broadcaster.cpp#L105)

It would be great to add some log info prints both before and after this as well as in the tests with configure, activate and deactivate. This might give us some clue on where the issue might be coming from

[christophfroehlich]

Do we have to release that? Or do we hope that it will happen on any source build?

[saikishor]

Do we have to release that? Or do we hope that it will happen on any source build?

Let's hope that it happens on source build

[saikishor]

@Juliaj I've checked the code and I think it might be caused by lock of RTPublisher : (https://github.com/ros-controls/ros2_controllers/blob/master/force_torque_sensor_broadcaster%2Fsrc%2Fforce_torque_sensor_broadcaster.cpp#L105)

It would be great to add some log info prints both before and after this as well as in the tests with configure, activate and deactivate. This might give us some clue on where the issue might be coming from

@Juliaj do you want to take care of it?