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How to make rostest launch rosout?

asked 2020-06-01 12:37:33 -0600

JohnStechschulte gravatar image

I have a node that analyzes rosout_agg messages to benchmark the robot's performance. I'd like to incorporate these benchmarks into a test, but it seems that the rosout node is not started under rostest, and so rosout_agg is never published. (If I subscribe directly to rosout, my node works the same under rostest and roslaunch.)

Is this the intended behavior? Is there a way to tell rostest that I do want rosout launched?

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Well, it is starting, because when I try to start one myself in the .test file, I get the duplicate-node-name error. So I'm pretty lost at this point.

JohnStechschulte gravatar image JohnStechschulte  ( 2020-06-01 18:20:46 -0600 )edit

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answered 2020-06-03 23:01:46 -0600

JohnStechschulte gravatar image

I found a workaround. In the test script, simply launch a rosout node, but with a different name:

<node name="rosout_test" pkg="rosout" type="rosout" />

This occurred to me while elbow-deep in debugging rostest and roslaunch. I'm suspicious that somehow rostest _thinks_ it launched rosout but in fact did not. If someone out there can explain all this to me, I'd really appreciate it.

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Asked: 2020-06-01 12:37:33 -0600

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Last updated: Jun 01 '20