🧑‍🌾 `ros2topic.ros2topic.test.test_bw_delay_hz.test_bw_delay_hz` failing in Kilted Zenoh

[Crola1702]

Generated by Generative AI

No response

Operating System:

Ubuntu Noble

ROS version or commit hash:

Kilted

RMW implementation (if applicable):

Zenoh

RMW Configuration (if applicable):

No response

Client library (if applicable):

No response

'ros2 doctor --report' output

No response

Steps to reproduce issue

1. Run a build in Kci Zenoh
2. See test regression fail

Expected behavior

Test should not fail

Actual behavior

Test is failing

Additional information

Reference build:

• Kci__nightly-zenoh_ubuntu_noble_amd64#35

Test regression:

• ros2topic.ros2topic.test.test_bw_delay_hz.test_bw_delay_hz

Log output:

FAIL: test_bw_delay_hz.TestROS2TopicBwDelayHz.test_bw_basic (topic='/clitest/topic/bw_compatible_qos', provide_qos=True, compatible_qos=True)
--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
Traceback (most recent call last):
  File "/tmp/ws/src/ros2/ros2cli/ros2topic/test/test_bw_delay_hz.py", line 170, in helper_verb_basic
    assert re.search(success_regex, command.output, flags=re.MULTILINE), (
AssertionError: bw CLI did not print expected message
assert None
 +  where None = <function search at 0x79acf8335c60>('^[0-9]+ B/s from [0-9]+ messages$', 'WARNING: topic [/clitest/topic/bw_compatible_qos] does not appear to be published yet\n', flags=re.MULTILINE)
 +    where <function search at 0x79acf8335c60> = re.search
 +    and   'WARNING: topic [/clitest/topic/bw_compatible_qos] does not appear to be published yet\n' = <launch_testing.tools.process.ProcessProxy object at 0x79ace8107110>.output
 +    and   re.MULTILINE = re.MULTILINE

Last fail on Rolling was on 2025-07-08 (reference). Maybe we need to apply RMW Isolation? #1062

[fujitatomoya]

I believe that the failure reason is the test command is executed before the publisher comes online. it seems to give the enough time to spin to start the timer and make the publisher online, probably this could be racy... at the end, test command cannot discover the publisher endpoint, ends up with having no publisher.

I am not exactly sure why this could happen to rmw zenoh, but i also think we can make this better to wait for the publisher before executing the test command line.

[Crola1702]

This same test regression happened yesterday on Kilted:

https://build.ros2.org/job/Kci__nightly-zenoh_ubuntu_noble_amd64/44/testReport/junit/ros2topic.ros2topic.test/test_bw_delay_hz/test_bw_delay_hz/

========================================================================================================================================================================================================
FAIL: test_bw_delay_hz.TestROS2TopicBwDelayHz.test_bw_basic (topic='/clitest/topic/bw_compatible_qos', provide_qos=True, compatible_qos=True)
--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
Traceback (most recent call last):
  File "/tmp/ws/src/ros2/ros2cli/ros2topic/test/test_bw_delay_hz.py", line 179, in helper_verb_basic
    assert re.search(success_regex, command.output, flags=re.MULTILINE), (
AssertionError: bw CLI did not print expected message
assert None
 +  where None = <function search at 0x7656fed6dc60>('^[0-9]+ B/s from [0-9]+ messages$', 'WARNING: topic [/clitest/topic/bw_compatible_qos] does not appear to be published yet\n', flags=re.MULTILINE)
 +    where <function search at 0x7656fed6dc60> = re.search
 +    and   'WARNING: topic [/clitest/topic/bw_compatible_qos] does not appear to be published yet\n' = <launch_testing.tools.process.ProcessProxy object at 0x7656e866a180>.output
 +    and   re.MULTILINE = re.MULTILINE

[ros-discourse]

This issue has been mentioned on Open Robotics Discourse. There might be relevant details there:

https://discourse.openrobotics.org/t/ros-news-for-the-week-of-september-29th-2025/50409/1