Add sleep in setup of flaky PSM test fixture (#3126)

sea-bass · web-flow · commit 92e8808d6679 · 2024-11-22T10:23:49.000+01:00
diff --git a/moveit_ros/planning/planning_scene_monitor/test/planning_scene_monitor_test.cpp b/moveit_ros/planning/planning_scene_monitor/test/planning_scene_monitor_test.cpp
@@ -59,6 +59,9 @@ class PlanningSceneMonitorTest : public ::testing::Test
     scene_ = planning_scene_monitor_->getPlanningScene();
     executor_->add_node(test_node_);
     executor_thread_ = std::thread([this]() { executor_->spin(); });
+
+    // Needed to avoid race conditions on high-load CPUs.
+    std::this_thread::sleep_for(std::chrono::seconds{ 1 });
   }
 
   void TearDown() override

Original file line number	Diff line number	Diff line change
`@@ -59,6 +59,9 @@ class PlanningSceneMonitorTest : public ::testing::Test`
`59`	`59`	`scene_ = planning_scene_monitor_->getPlanningScene();`
`60`	`60`	`executor_->add_node(test_node_);`
`61`	`61`	`executor_thread_ = std::thread([this]() { executor_->spin(); });`
	`62`	`+`
	`63`	`+ // Needed to avoid race conditions on high-load CPUs.`
	`64`	`+ std::this_thread::sleep_for(std::chrono::seconds{ 1 });`
`62`	`65`	`}`
`63`	`66`
`64`	`67`	`void TearDown() override`