Fixed a way of waiting results

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

Author: SakodaShintaro

localization/ndt_scan_matcher/test/stub_initialpose_client.hpp

@@ -48,16 +48,12 @@ class StubInitialposeClient : public rclcpp::Node
     std::shared_ptr<AlignSrv::Request> request = std::make_shared<AlignSrv::Request>();
     request->pose_with_covariance = initialpose;
     auto result = align_service_client_->async_send_request(request);
-
-    // wait for the response
-    std::future_status status = result.wait_for(std::chrono::seconds(0));
-    while (status != std::future_status::ready) {
-      if (!rclcpp::ok()) {
-        EXIT_FAILURE;
-      }
-      status = result.wait_for(std::chrono::seconds(1));
+    if (
+      rclcpp::spin_until_future_complete(this->get_node_base_interface(), result) !=
+      rclcpp::FutureReturnCode::SUCCESS) {
+      RCLCPP_ERROR(this->get_logger(), "Service call failed");
+      throw std::runtime_error("Service call failed.");
     }
-
     return result.get()->pose_with_covariance;
   }
 

localization/ndt_scan_matcher/test/stub_trigger_node_client.hpp

@@ -46,16 +46,12 @@ class StubTriggerNodeClient : public rclcpp::Node
     std::shared_ptr<SetBool::Request> request = std::make_shared<SetBool::Request>();
     request->data = trigger;
     auto result = align_service_client_->async_send_request(request);
-
-    // wait for the response
-    std::future_status status = result.wait_for(std::chrono::seconds(0));
-    while (status != std::future_status::ready) {
-      if (!rclcpp::ok()) {
-        EXIT_FAILURE;
-      }
-      status = result.wait_for(std::chrono::seconds(1));
+    if (
+      rclcpp::spin_until_future_complete(this->get_node_base_interface(), result) !=
+      rclcpp::FutureReturnCode::SUCCESS) {
+      RCLCPP_ERROR(this->get_logger(), "Service call failed");
+      throw std::runtime_error("Service call failed.");
     }
-
     return result.get()->success;
   }
 

localization/ndt_scan_matcher/test/test.cpp

@@ -118,8 +118,6 @@ TEST_F(TestNDTScanMatcher,
     exec.spin();
   });
   std::thread t2([&]() { rclcpp::spin(pcd_loader_); });
-  std::thread t3([&]() { rclcpp::spin(initialpose_client_); });
-  std::thread t4([&]() { rclcpp::spin(trigger_node_client_); });
 
   //-----//
   // Act //
@@ -144,8 +142,6 @@ TEST_F(TestNDTScanMatcher,
   rclcpp::shutdown();
   t1.join();
   t2.join();
-  t3.join();
-  t4.join();
 }
 
 int main(int argc, char ** argv)