Port to connect to rostest rosmaster after Indigo

asked 2015-05-02 06:04:31 -0500

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updated 2015-05-02 11:24:38 -0500

Connecting to rosmater with specific port number used to be possible. I see this pull request against Indigo that randomizes the rosmaster port for rostest. Does this mean that there is now no way to connect to rosmater during rostest?

(I'm seeing an issue that only occurs to me during rostest. I want to see values set in Parameter Server for debug purpose.)

$ dpkg -p ros-indigo-ros-comm | grep Ver
Version: 1.11.13-0trusty-20150429-190011-0700

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answered 2016-03-04 22:45:00 -0500

lucasw

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updated 2016-03-04 22:46:39 -0500

https://github.com/ros/ros_comm/pull/637 replaced the earlier pr and was merged and now rostest --reuse-master pkg foo.test will use the standard ROS_MASTER_URI port.

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But is there a way to catkin_make run_tests and reuse-master?

lucasw ( 2016-03-19 08:45:16 -0500 )edit

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answered 2015-05-02 14:24:13 -0500

Dirk Thomas
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updated 2016-03-04 22:51:22 -0500

lucasw

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As mentioned in the referenced PR rostest has been modified for Indigo to use a random port by default ( https://github.com/ros/ros_comm/pull/467 ). That allows to run multiple rostests in parallel which significantly speeds up testing.

For your use case it would be good if you could override the port using a command line argument to rostest. Since the internal API of rostest still allows to configure a custom port it should be straight forward to add a command line argument for that. It would be great if you could create a PR for this feature.

After that the referenced wiki page should be updated as well.