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Omnibus fixes for running tests with Connext. #2684

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Omnibus fixes for running tests with Connext. #2684

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Commits on Nov 25, 2024

  1. Omnibus fixes for running tests with Connext. 

    When running the tests with RTI Connext as the default
RMW, some of the tests are failing.  There are three
different failures fixed here:

1.  Setting the liveliness duration to a value smaller than
a microsecond causes Connext to throw an error.  Set it to
a millisecond.

2.  Using the SystemDefaultsQoS sets the QoS to KEEP_LAST 1.
Connext is somewhat slow in this regard, so it can be the case
that we are overwriting a previous service introspection event
with the next one.  Switch to the ServicesDefaultQoS in the test,
which ensures we will not lose events.

3.  Connext is slow to match publishers and subscriptions.  Thus,
when creating a subscription "on-the-fly", we should wait for the
publisher to match it before expecting the subscription to actually
receive data from it.

With these fixes in place, the test_client_common, test_generic_service,
test_service_introspection, and test_executors tests all pass for
me with rmw_connextdds.

Signed-off-by: Chris Lalancette <[email protected]>
    @clalancette
    clalancette committed Nov 25, 2024
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  2. Fixes for executors. 

    Signed-off-by: Chris Lalancette <[email protected]>
    @clalancette
    clalancette committed Nov 25, 2024
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  3. One more fix for services. 

    Signed-off-by: Chris Lalancette <[email protected]>
    @clalancette
    clalancette committed Nov 25, 2024
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  4. More fixes for service_introspection. 

    Signed-off-by: Chris Lalancette <[email protected]>
    @clalancette
    clalancette committed Nov 25, 2024
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  5. More fixes for introspection. 

    Signed-off-by: Chris Lalancette <[email protected]>
    @clalancette
    clalancette committed Nov 25, 2024
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