De-flake trajectory_cache _with_move_group tests#3777
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The gtest_with_move_group.py fixture launched the test binary on a fixed TimerAction(period=3.0). On slow CI runs the joint_state_broadcaster had not activated by t=3s, so /joint_states was not yet publishing and the test failed at MoveGroupInterface::getCurrentState() with "Failed to fetch current robot state". This flaked across Noble, Resolute, jazzy, and kilted for the _with_move_group test family. Gate the test binary launch on joint_state_broadcaster activation instead: spawn the broadcaster as its own ExecuteProcess and start the gtest node from an OnProcessExit handler. The spawner exits 0 only after the controller is loaded, configured, and activated, guaranteeing /joint_states is publishing before the test runs. This removes the wall-clock race entirely. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
## main #3777 +/- ##
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+ Coverage 46.23% 46.29% +0.06%
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Files 726 726
Lines 59512 59508 -4
Branches 7622 7623 +1
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+ Hits 27509 27541 +32
+ Misses 31836 31800 -36
Partials 167 167 ☔ View full report in Codecov by Harness. 🚀 New features to boost your workflow:
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The gtest_with_move_group.py fixture launched the test binary on a fixed TimerAction(period=3.0). On slow CI runs the joint_state_broadcaster had not activated by t=3s, so /joint_states was not yet publishing and the test failed at MoveGroupInterface::getCurrentState() with "Failed to fetch current robot state". This flaked across Noble, Resolute, jazzy, and kilted for the _with_move_group test family.
Gate the test binary launch on joint_state_broadcaster activation instead: spawn the broadcaster as its own ExecuteProcess and start the gtest node from an OnProcessExit handler. The spawner exits 0 only after the controller is loaded, configured, and activated, guaranteeing /joint_states is publishing before the test runs. This removes the wall-clock race entirely.
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