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Added possibility to set history policy - #1098
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jhanca-robotecai merged 2 commits intoSep 22, 2026
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Signed-off-by: Norbert Prokopiuk <norbert.prokopiuk@robotec.ai>
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Sep 21, 2026
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The test are failing due to some hardcoded values in WheelOdometry:
[ctest] cwd = /home/jhanca/devroot/projects/AllTemplates/build/2610/External/ROS2Controllers-197b7cdd/Code
[ctest] LIB: /home/jhanca/devroot/projects/AllTemplates/build/2610/bin/profile/libROS2Controllers.Editor.Tests.so
[ctest] Loading: /home/jhanca/devroot/projects/AllTemplates/build/2610/bin/profile/libROS2Controllers.Editor.Tests.so
[ctest] OKAY Library loaded: /home/jhanca/devroot/projects/AllTemplates/build/2610/bin/profile/libROS2Controllers.Editor.Tests.so
[ctest] OKAY Symbol found: AzRunUnitTests
[ctest] WARNING: unrecognized parameters: --platform, minimal,
[ctest] Note: Google Test filter = -*SUITE_smoke*:*SUITE_periodic*:*SUITE_benchmark*:*SUITE_sandbox*:*SUITE_awsi*
[ctest] [==========] Running 2 tests from 1 test suite.
[ctest] [----------] Global test environment set-up.
[ctest] [----------] 2 tests from ROS2ControllersTestFixture
[ctest] [ RUN ] ROS2ControllersTestFixture.Deserialize_WhenOldSchemaProvided_StoresSuccessfully
[ctest] /home/jhanca/devroot/2610/o3de-extras/Gems/ROS2Controllers/Code/Tests/WheelOdometrySensorConfigurationSerializationTest.cpp:85: Failure
[ctest] Value of: actualJson == expectedJson
[ctest] Actual: false
[ctest] Expected: true
[ctest]
[ctest] [ FAILED ] ROS2ControllersTestFixture.Deserialize_WhenOldSchemaProvided_StoresSuccessfully (0 ms)
[ctest] [ RUN ] ROS2ControllersTestFixture.Deserialize_WhenNewSchemaProvided_StoresSuccessfully
[ctest] /home/jhanca/devroot/2610/o3de-extras/Gems/ROS2Controllers/Code/Tests/WheelOdometrySensorConfigurationSerializationTest.cpp:154: Failure
[ctest] Value of: actualJson == expectedJson
[ctest] Actual: false
[ctest] Expected: true
[ctest]
[ctest] [ FAILED ] ROS2ControllersTestFixture.Deserialize_WhenNewSchemaProvided_StoresSuccessfully (0 ms)
[ctest] [----------] 2 tests from ROS2ControllersTestFixture (1 ms total)
[ctest]
[ctest] [----------] Global test environment tear-down
[ctest] [==========] 2 tests from 1 test suite ran. (511 ms total)
[ctest] [ PASSED ] 0 tests.
[ctest] [ FAILED ] 2 tests, listed below:
[ctest] [ FAILED ] ROS2ControllersTestFixture.Deserialize_WhenOldSchemaProvided_StoresSuccessfully
[ctest] [ FAILED ] ROS2ControllersTestFixture.Deserialize_WhenNewSchemaProvided_StoresSuccessfully
[ctest]
[ctest] 2 FAILED TESTS
[ctest] OKAY AzRunUnitTests() returned 1
[ctest] Retry command:
[ctest] /home/jhanca/devroot/projects/AllTemplates/build/2610/bin/profile/AzTestRunner /home/jhanca/devroot/projects/AllTemplates/build/2610/bin/profile/libROS2Controllers.Editor.Tests.so AzRunUnitTests
[ctest] Returning code: 1
[ctest]
[ctest]
[ctest] 0% tests passed, 1 tests failed out of 1
Signed-off-by: Norbert Prokopiuk <norbert.prokopiuk@robotec.ai>
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@jhanca-robotecai thanks for review, I applied fixes to your comments |
jhanca-robotecai
approved these changes
Sep 22, 2026
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What does this PR do?
Pr adds possibility to control topic QoS history policy. Previously all topics were hardcoded as KeepLast
How was this PR tested?
built as non-unity and created topic with new KeepAll policy. policy verified using
ros2 topic info /topic_name --verbose