From 4be41520606289a9935843b143a06bba618c61b2 Mon Sep 17 00:00:00 2001
From: "Isaac I.Y. Saito" <130s@2000.jukuin.keio.ac.jp>
Date: Fri, 17 Feb 2017 06:35:00 -0800
Subject: [PATCH] [face_detector][test] Shorter test duration (bag files are
 less than 7 seconds). [face_detector][test] Shorter test_duration. We only
 need a second or so as long as we can confirm the designated topic is being
 published. [face_detector][test] rosbag play with clock and loop option.

---
 face_detector/test/common_rtest.xml | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/face_detector/test/common_rtest.xml b/face_detector/test/common_rtest.xml
index b3e82f38..e028cc34 100644
--- a/face_detector/test/common_rtest.xml
+++ b/face_detector/test/common_rtest.xml
@@ -1,6 +1,7 @@
 <launch>
   <arg name="expected_success" default="true" />
   <arg name="hz" default="30.0" />
+  <arg name="hztest_duration" default="2.0" />
   <arg name="hz_error" default="29.9" />
   <arg name="RETRY_TEST" default="5" />
   <arg name="testnode_name" default="hztest1" />
@@ -9,22 +10,22 @@
   <param name ="use_sim_time" value="true" />
 
   <group unless="$(arg expected_success)">
-    <node pkg="rosbag" type="play" name="play" args="-r 0.5 $(find face_detector)/test/face_detector_noface_test_diamondback.bag"/>
+    <node pkg="rosbag" type="play" name="play" args="--clock -l -r 0.5 $(find face_detector)/test/face_detector_noface_test_diamondback.bag"/>
 
     <test test-name="hztest_noface_$(arg testnode_name)" pkg="rostest" type="hztest" name="$(arg testnode_name)" retry="$(arg RETRY_TEST)">
       <param name="topic" value="face_detector/people_tracker_measurements_array" />
       <param name="hz" value="0.0" />
-      <param name="test_duration" value="15.0" />
+      <param name="test_duration" value="$(arg hztest_duration)" />
     </test>
   </group>
   <group if="$(arg expected_success)">
     <node pkg="rosbag" type="play" name="play" args="-r 0.5 $(find face_detector)/test/face_detector_withface_test_diamondback.bag"/>
 
     <test test-name="hztest_withface_$(arg topicname_hztest)" pkg="rostest" type="hztest" name="$(arg testnode_name)" retry="$(arg RETRY_TEST)">
-      <param name="topic" value="$(arg expected_success)" />
+      <param name="topic" value="$(arg topicname_hztest)" />
       <param name="hz" value="$(arg hz)" />
       <param name="hzerror" value="$(arg hz_error)" />    
-      <param name="test_duration" value="15.0" />
+      <param name="test_duration" value="$(arg hztest_duration)" />
     </test>
   </group>
 </launch>