test(nebula_ros): fix what is probably a timing issue by explicitly w…

…aiting for known-good console output

Signed-off-by: Max SCHMELLER <[email protected]>

nebula_ros/test/smoke_test.py

@@ -1,4 +1,3 @@
-import time
 import unittest
 
 from launch import LaunchContext
@@ -11,7 +10,6 @@
 import launch_testing.actions
 import launch_testing.asserts
 import pytest
-import rclpy
 
 
 def resolve_launch_file(context: LaunchContext, *args, **kwargs):
@@ -29,25 +27,17 @@ def resolve_launch_file(context: LaunchContext, *args, **kwargs):
 @pytest.mark.launch_test
 def generate_test_description():
     return LaunchDescription(
-        [OpaqueFunction(function=resolve_launch_file), launch_testing.actions.ReadyToTest()]
+        [
+            OpaqueFunction(function=resolve_launch_file),
+            launch_testing.actions.ReadyToTest(),
+        ]
     )
 
 
-class DummyTest(unittest.TestCase):
-    def test_wait_for_node_ready(self):
-        """Waiting for the node coming online."""
-        rclpy.init()
-        test_node = rclpy.create_node("test_node")
-        # Wait until both dummy node "test_node" and real tested node are registered and then kill
-        # both of them, if tested node does not register within `timeout` seconds test will fail
-        start_time = time.time()
-        timeout = 2  # seconds
-        timeout_msg = "Smoke test timeout has been exceeded ({}s)".format(timeout)
-        print("waiting for nodes to be ready")
-        while len(test_node.get_node_names()) < 2:
-            assert time.time() - start_time < timeout, timeout_msg
-            time.sleep(0.1)
-        rclpy.shutdown()
+class TestCorrectStartup(unittest.TestCase):
+    def test_wait_for_startup_then_shutdown(self):
+        self.proc_output: launch_testing.ActiveIoHandler
+        self.proc_output.assertWaitFor("Wrapper=OK", timeout=2)
 
 
 @launch_testing.post_shutdown_test()