fix: autoware_test_manager:Fix flaky No subscriber for <topic> failure

[liuXinGangChina]

Description

Fix flaky No subscriber for <topic> failures in autoware_planning_test_manager CI tests.

Two causes are addressed:

1. Race condition in publishToTargetNode()

autoware_test_utils.hpp:565-571 publishes a message and then immediately checks count_subscribers() once. DDS graph discovery is asynchronous — when the subscription is created moments earlier by subscribeOutput(), the node's graph cache may not yet reflect it. On loaded CI runners discovery can lag, causing a false-negative No subscriber exception. Publishing before confirming the subscription also means the message is dropped under volatile QoS.

Fix: replace the single count_subscribers() check with a spin/wait loop (5s timeout, 100ms interval) that actively drives DDS discovery, and publish only after the subscription is confirmed.

2. No RAII guard for rclcpp::init/rclcpp::shutdown

Each TEST() body manually calls rclcpp::init() and rclcpp::shutdown(). When the exception from (1) is thrown, shutdown() is skipped, leaving the ROS context initialized. All subsequent tests then fail with context is already initialized.

Fix: introduce a PlanningTestManagerTest fixture with SetUp/TearDown managing the ROS context lifecycle, and convert TEST() → TEST_F().

Related links

Parent Issue:

• Link - Fix flaky 'No subscriber for <topic>' failures in autoware_planning_test_manager CI tests #1177

How was this PR tested?

Built and tested in official core development Docker images:

Image	Build	10× test loop
ghcr.io/autowarefoundation/autoware:core-devel-jazzy	Pass	10/10 Pass

colcon build --packages-up-to autoware_planning_test_manager
./build/autoware_planning_test_manager/test_autoware_planning_test_manager

Notes for reviewers

autoware_test_utils is a shared testing library. Fixing publishToTargetNode() in the helper eliminates the same race for all downstream packages that use it.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

❌ Patch coverage is 37.50000% with 5 lines in your changes missing coverage. Please review.
✅ Project coverage is 61.98%. Comparing base (704659a) to head (cb74e3c).

Files with missing lines	Patch %	Lines
...nclude/autoware_test_utils/autoware_test_utils.hpp	37.50%	3 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1181      +/-   ##
==========================================
+ Coverage   60.38%   61.98%   +1.60%     
==========================================
  Files         422      416       -6     
  Lines       25149    24442     -707     
  Branches    11911    11824      -87     
==========================================
- Hits        15185    15150      -35     
+ Misses       6999     6684     -315     
+ Partials     2965     2608     -357     

Flag	Coverage Δ		*Carryforward flag
daily-humble	66.97% <ø> (-0.01%)	⬇️	Carriedforward from 704659a
daily-jazzy	67.00% <ø> (-0.01%)	⬇️	Carriedforward from 704659a
differential-humble	53.26% <37.50%> (-2.67%)	⬇️
differential-jazzy	53.45% <37.50%> (-2.43%)	⬇️
total	50.38% <ø> (-0.01%)	⬇️	Carriedforward from 704659a
total-humble	66.97% <ø> (-0.01%)	⬇️	Carriedforward from 704659a
total-humble-agnocast	66.74% <ø> (-0.01%)	⬇️	Carriedforward from 704659a
total-jazzy	67.00% <ø> (-0.01%)	⬇️	Carriedforward from 704659a
total-jazzy-agnocast	66.79% <ø> (-0.01%)	⬇️	Carriedforward from 704659a

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[Copilot]

Pull request overview

This PR reduces CI flakiness in autoware_planning_test_manager tests by making topic discovery/subscriber matching more robust before publishing, and by ensuring ROS context lifecycle is handled reliably even when a test fails.

Changes:

• Add a bounded spin/wait loop in publishToTargetNode() to wait for subscriber discovery before publishing.
• Introduce a PlanningTestManagerTest gtest fixture that manages rclcpp::init()/rclcpp::shutdown() via SetUp()/TearDown().
• Convert affected tests from TEST() to TEST_F() to use the fixture.

Reviewed changes

Copilot reviewed 2 out of 2 changed files in this pull request and generated 1 comment.

File	Description
testing/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp	Waits for subscriber discovery before publishing to avoid DDS discovery races and dropped messages under volatile QoS.
testing/autoware_planning_test_manager/test/test_planning_test_manager.cpp	Uses a fixture to ensure ROS context shutdown happens even when a test fails mid-body.

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