Merge branch 'master' into use/filelock/spawner

Author: christophfroehlich

controller_manager/test/test_controller_manager.cpp

@@ -910,7 +910,7 @@ TEST_P(TestControllerManagerWithUpdateRates, per_controller_equal_and_higher_upd
     // [cm_update_rate, 2*cm_update_rate)
     EXPECT_THAT(
       test_controller->update_period_.seconds(),
-      testing::AllOf(testing::Ge(0.85 / cm_update_rate), testing::Lt((1.15 / cm_update_rate))));
+      testing::AllOf(testing::Ge(0.8 / cm_update_rate), testing::Lt((1.2 / cm_update_rate))));
     ASSERT_EQ(
       test_controller->internal_counter,
       cm_->get_loaded_controllers()[0].execution_time_statistics->GetCount());
@@ -1239,10 +1239,10 @@ TEST_F(TestAsyncControllerUpdateRates, check_the_async_controller_update_rate_an
         testing::AnyOf(testing::Ge(exp_counter - 1), testing::Le(exp_counter)));
       EXPECT_THAT(
         cm_->get_loaded_controllers()[0].periodicity_statistics->Average(),
-        testing::AllOf(testing::Ge(0.95 * exp_periodicity), testing::Lt((1.05 * exp_periodicity))));
+        testing::AllOf(testing::Ge(0.9 * exp_periodicity), testing::Lt((1.1 * exp_periodicity))));
       EXPECT_THAT(
         cm_->get_loaded_controllers()[0].periodicity_statistics->Min(),
-        testing::AllOf(testing::Ge(0.75 * exp_periodicity), testing::Lt((1.2 * exp_periodicity))));
+        testing::AllOf(testing::Ge(0.5 * exp_periodicity), testing::Lt((1.2 * exp_periodicity))));
       EXPECT_THAT(
         cm_->get_loaded_controllers()[0].periodicity_statistics->Max(),
         testing::AllOf(testing::Ge(0.75 * exp_periodicity), testing::Lt((2.0 * exp_periodicity))));