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Multiple Cores running in rostest

asked 2013-05-10 17:15:26 -0600

David Lu gravatar image

updated 2013-05-10 17:57:45 -0600

I'm running tests in the latest navigation branch, but keep getting errors when I run

catkin_make run_tests

The errors claim that there is already a roscore instance open on that port. Full output of the command is seen here but the relevant bit is...

-- execute commands
  /opt/ros/groovy/bin/rostest --pkgdir=/home/dlu/catkin/src/navigation/costmap_2d --package=costmap_2d --results-filename test_simple_driving_test.xml /home/dlu/catkin/src/navigation/costmap_2d/test/simple_driving_test.xml
... logging to /home/dlu/.ros/log/rostest-serenity-8918.log
[ROSUNIT] Outputting test results to /home/dlu/catkin/build/test_results/costmap_2d/rostest-test_simple_driving_test.xml
[ WARN] [1368241605.099039962]: Message from [/rosbag] has a non-fully-qualified frame_id [base_laser]. Resolved locally to [/base_laser].  This is will likely not work in multi-robot systems.  This message will only print once.
[ WARN] [1368241605.108304546, 19.527194170]: No laser scan received (and thus no pose updates have been published) for 19.527194 seconds.  Verify that data is being published on the /base_scan topic.
testsimple_driving_test ... ERROR!
ERROR: roscore cannot run as another roscore/master is already running. 
Please kill other roscore/master processes before relaunching.
The ROS_MASTER_URI is http://serenity:22422/
  File "/usr/lib/python2.7/unittest/", line 332, in run
  File "/opt/ros/groovy/lib/python2.7/dist-packages/rostest/", line 121, in fn
    succeeded, failed = self.test_parent.launch()
  File "/opt/ros/groovy/lib/python2.7/dist-packages/rostest/", line 81, in launch
    return self.runner.launch()
  File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/", line 644, in launch
  File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/", line 620, in _setup
  File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/", line 381, in _launch_master
    raise RLException("roscore cannot run as another roscore/master is already running. \nPlease kill other roscore/master processes before relaunching.\nThe ROS_MASTER_URI is %s"%(m.uri))

However running the tests with the individual command works just fine.

/opt/ros/groovy/bin/rostest --pkgdir=/home/dlu/catkin/src/navigation/costmap_2d --package=costmap_2d --results-filename test_simple_driving_test.xml /home/dlu/catkin/src/navigation/costmap_2d/test/simple_driving_test.xml

The CMake command for the above listed test is...

catkin_add_gtest(module_tests test/module_tests.cpp)

In the words of "David after Dentist," "WHY IS THIS HAPPENING? IS THIS GOING TO BE FOREVER?"

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What do the unit test commands in your CMakeLists.txt look like? (Please edit your question.)

joq gravatar image joq  ( 2013-05-10 17:27:22 -0600 )edit

3 Answers

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answered 2013-05-12 10:28:20 -0600

David Lu gravatar image

The actual problem is literally too many cores. I have a dual core laptop and the catkin_make has this option:

-j [JOBS], --jobs [JOBS]
                    Specifies the number of jobs (commands) to run
                    simultaneously. Defaults to the environment variable
                    ROS_PARALLEL_JOBS and falls back to the number of CPU

Since I have two cores, it was running two tests at the same time with the same port number.

I have posted a ticket.

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answered 2013-05-11 07:30:19 -0600

joq gravatar image

This might be the same as a problem I had. Check my earlier question: how does rostest work with catkin?

Unless your gtest is a standalone non-ROS test, try commenting it out in your CMakeLists.txt.

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answered 2013-05-12 12:34:21 -0600

Dirk Thomas gravatar image

rostest uses a fixed rosmaster and can therefore not be invoked in parallel. So catkin_make should not automatically append -j flags when running tests. This has already been fixed in catkin_make ( which will be available with the next patch release.

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Asked: 2013-05-10 17:15:26 -0600

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Last updated: May 12 '13