use QoS Reliable and History Depth 10 for stable test result.

[fujitatomoya]

address #2613

Note

This is still draft PR since the test still sometimes fails with rmw_connextdds.

[fujitatomoya]

@fgallegosalido any thoughts?

i thought that this is originally similar with #2588, but this test cannot be stable with appropriate QoS setting.

[fujitatomoya]

Having the qos reliable and depth 10 for both publishers and subscription for service events to make this test result stable.

Unfortunately even with this setting, it still fails with rmw_connextdds.
I tried to increase the timeout from 1000 to 3000 but still sometimes fails.

colcon test --event-handlers console_direct+ --packages-select rclcpp --ctest-args -R test_service_introspection --retest-until-fail 100
...
74: /root/ros2_ws/colcon_ws/src/ros2/rclcpp/rclcpp/test/rclcpp/test_service_introspection.cpp:200: Failure
74: Expected equality of these values:
74:   events.size()
74:     Which is: 1
74:   2U
74:     Which is: 2
74:
74: [  FAILED  ] TestServiceIntrospection.service_introspection_enable_disable_events (2312 ms)
74: [ RUN      ] TestServiceIntrospection.service_introspection_enable_disable_event_content
74: RTI Connext DDS Non-commercial license is for academic, research, evaluation and personal use only. USE FOR COMMERCIAL PURPOSES IS PROHIBITED. See RTI_LICENSE.TXT for terms. Download free tools at rti.com/ncl. License issued to Non-Commercial User [email protected] For non-production use only.
74: Expires on 00-jan-00 See www.rti.com for more information.
74: [       OK ] TestServiceIntrospection.service_introspection_enable_disable_event_content (216 ms)
74: [----------] 3 tests from TestServiceIntrospection (2834 ms total)
74:
74: [----------] Global test environment tear-down
74: [==========] 3 tests from 1 test suite ran. (2843 ms total)
74: [  PASSED  ] 2 tests.
74: [  FAILED  ] 1 test, listed below:
74: [  FAILED  ] TestServiceIntrospection.service_introspection_enable_disable_events
74:
74:  1 FAILED TEST
74: -- run_test.py: return code 1
74: -- run_test.py: inject classname prefix into gtest result file '/root/ros2_ws/colcon_ws/build/rclcpp/test_results/rclcpp/test_service_introspection.gtest.xml'
74: -- run_test.py: verify result file '/root/ros2_ws/colcon_ws/build/rclcpp/test_results/rclcpp/test_service_introspection.gtest.xml'
    Test #74: test_service_introspection .......***Failed    2.91 sec

0% tests passed, 1 tests failed out of 1

Label Time Summary:
gmock     =   2.91 sec*proc (1 test)
mimick    =   2.91 sec*proc (1 test)

Total Test time (real) =   8.89 sec

The following tests FAILED:
         74 - test_service_introspection (Failed)
Errors while running CTest
Output from these tests are in: /root/ros2_ws/colcon_ws/build/rclcpp/Testing/Temporary/LastTest.log
Use "--rerun-failed --output-on-failure" to re-run the failed cases verbosely.
--- stderr: rclcpp
Errors while running CTest
Output from these tests are in: /root/ros2_ws/colcon_ws/build/rclcpp/Testing/Temporary/LastTest.log
Use "--rerun-failed --output-on-failure" to re-run the failed cases verbosely.
---
Finished <<< rclcpp [9.07s]     [ with test failures ]

Summary: 1 package finished [10.1s]
  1 package had stderr output: rclcpp
  1 package had test failures: rclcpp