2026-08-11T01:52:07.5173741Z Starting >>> rqt_joint_trajectory_controller
2026-08-11T01:52:07.5174039Z --- output: rqt_joint_trajectory_controller
2026-08-11T01:52:07.5174463Z �[1m============================= test session starts ==============================�[0m
2026-08-11T01:52:07.5175169Z platform linux -- Python 3.14.4, pytest-9.0.2, pluggy-1.6.0
2026-08-11T01:52:07.5175863Z cachedir: /home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/build/rqt_joint_trajectory_controller/.pytest_cache
2026-08-11T01:52:07.5176812Z rootdir: /home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/src/ros2_controllers/rqt_joint_trajectory_controller
2026-08-11T01:52:07.5178621Z plugins: ament_flake8-0.20.6, ament_xmllint-0.20.6, ament_lint-0.20.6, ament_mypy-0.20.6, ament_copyright-0.20.6, launch_testing-3.9.8, launch_testing_ros-0.29.9, ament_pep257-0.20.6, typeguard-4.4.4, repeat-0.9.4, rerunfailures-16.1, colcon-core-0.21.0, cov-5.0.0
2026-08-11T01:52:07.5179805Z �[1mcollecting ... �[0m�[1m
2026-08-11T01:52:07.5180220Z collected 29 items �[0m
2026-08-11T01:52:07.5180573Z
2026-08-11T01:52:07.5181752Z test/test_joint_limits_urdf.py �[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m.�[0m�[32m [ 96%]�[0m
2026-08-11T01:52:07.5183148Z test/test_run_launch.py �[31mF�[0m�[31m [100%]�[0m
2026-08-11T01:52:07.5183466Z
2026-08-11T01:52:07.5183605Z =================================== FAILURES ===================================
2026-08-11T01:52:07.5184294Z �[31m�[1m______________________ launch tests: test.test_run_launch ______________________�[0m
2026-08-11T01:52:07.5184839Z
2026-08-11T01:52:07.5185255Z ======================================================================================================================================================================================
2026-08-11T01:52:07.5186086Z FAIL: test.test_run_launch.TestShutdown.test_exit_codes
2026-08-11T01:52:07.5187470Z --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
2026-08-11T01:52:07.5188592Z Traceback (most recent call last):
2026-08-11T01:52:07.5190017Z File "/home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/src/ros2_controllers/rqt_joint_trajectory_controller/test/test_run_launch.py", line 75, in test_exit_codes
2026-08-11T01:52:07.5191375Z launch_testing.asserts.assertExitCodes(
2026-08-11T01:52:07.5191830Z ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
2026-08-11T01:52:07.5192342Z proc_info, allowable_exit_codes=allowable_exit_codes
2026-08-11T01:52:07.5192905Z ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
2026-08-11T01:52:07.5193363Z )
2026-08-11T01:52:07.5193640Z ^
2026-08-11T01:52:07.5194487Z File "/opt/ros/lyrical/lib/python3.14/site-packages/launch_testing/asserts/assert_exit_codes.py", line 62, in assertExitCodes
2026-08-11T01:52:07.5195783Z assert info.returncode in allowable_exit_codes, 'Proc {} exited with code {}'.format(
2026-08-11T01:52:07.5196693Z ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
2026-08-11T01:52:07.5197109Z AssertionError: Proc rqt_joint_trajectory_controller-1 exited with code -11
2026-08-11T01:52:07.5198037Z ----------------------------- Captured stdout call -----------------------------
2026-08-11T01:52:07.5198737Z [INFO] [launch]: All log files can be found below /root/.ros/log/2026-08-11-01-52-03-378653-1b5da7779eb9-16811
2026-08-11T01:52:07.5199658Z [INFO] [launch]: Default logging verbosity is set to INFO
2026-08-11T01:52:07.5200448Z [INFO] [rqt_joint_trajectory_controller-1]: process started with pid [16815]
2026-08-11T01:52:07.5203037Z [rqt_joint_trajectory_controller-1] [WARN] [1786413124.346303500] [rcl.logging_rosout]: Publisher already registered for node name: 'rqt_joint_trajectory_controller_node'. If this is due to multiple nodes with the same name then all logs for the logger named 'rqt_joint_trajectory_controller_node' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
2026-08-11T01:52:07.5209273Z [rqt_joint_trajectory_controller-1] [WARN] [1786413124.384575428] [rcl.logging_rosout]: Publisher already registered for node name: 'rqt_joint_trajectory_controller_node'. If this is due to multiple nodes with the same name then all logs for the logger named 'rqt_joint_trajectory_controller_node' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
2026-08-11T01:52:07.5211375Z [rqt_joint_trajectory_controller-1] �[36mThis plugin does not support propagateSizeHints()�[0m
2026-08-11T01:52:07.5212072Z [INFO] [rqt_joint_trajectory_controller-1]: sending signal 'SIGINT' to process[rqt_joint_trajectory_controller-1]
2026-08-11T01:52:07.5212829Z [rqt_joint_trajectory_controller-1] �[36mThis plugin does not support propagateSizeHints()�[0m
2026-08-11T01:52:07.5214528Z [ERROR] [rqt_joint_trajectory_controller-1]: process has died [pid 16815, exit code -11, cmd '/home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/install/rqt_joint_trajectory_controller/lib/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller --ros-args -r __node:=rqt_joint_trajectory_controller_node'].
2026-08-11T01:52:07.5215866Z ----------------------------- Captured stderr call -----------------------------
2026-08-11T01:52:07.5216334Z test_node_start (test.test_run_launch.TestFixture.test_node_start) ... ok
2026-08-11T01:52:07.5216627Z
2026-08-11T01:52:07.5216765Z ----------------------------------------------------------------------
2026-08-11T01:52:07.5217084Z Ran 1 test in 2.049s
2026-08-11T01:52:07.5217525Z
2026-08-11T01:52:07.5217642Z OK
2026-08-11T01:52:07.5218089Z test_exit_codes (test.test_run_launch.TestShutdown.test_exit_codes)
2026-08-11T01:52:07.5218546Z Check if the process exited normally. ... FAIL
2026-08-11T01:52:07.5218758Z
2026-08-11T01:52:07.9776422Z ======================================================================
2026-08-11T01:52:07.9777650Z FAIL: test_exit_codes (test.test_run_launch.TestShutdown.test_exit_codes)
2026-08-11T01:52:07.9778401Z Check if the process exited normally.
2026-08-11T01:52:07.9778881Z ----------------------------------------------------------------------
2026-08-11T01:52:07.9779250Z Traceback (most recent call last):
2026-08-11T01:52:07.9780021Z File "/home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/src/ros2_controllers/rqt_joint_trajectory_controller/test/test_run_launch.py", line 75, in test_exit_codes
2026-08-11T01:52:07.9780804Z launch_testing.asserts.assertExitCodes(
2026-08-11T01:52:07.9781087Z ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
2026-08-11T01:52:07.9781402Z proc_info, allowable_exit_codes=allowable_exit_codes
2026-08-11T01:52:07.9781747Z ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
2026-08-11T01:52:07.9782141Z )
2026-08-11T01:52:07.9782308Z ^
2026-08-11T01:52:07.9782798Z File "/opt/ros/lyrical/lib/python3.14/site-packages/launch_testing/asserts/assert_exit_codes.py", line 62, in assertExitCodes
2026-08-11T01:52:07.9783519Z assert info.returncode in allowable_exit_codes, 'Proc {} exited with code {}'.format(
2026-08-11T01:52:07.9783948Z ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
2026-08-11T01:52:07.9784336Z AssertionError: Proc rqt_joint_trajectory_controller-1 exited with code -11
2026-08-11T01:52:07.9784650Z
2026-08-11T01:52:07.9784792Z ----------------------------------------------------------------------
2026-08-11T01:52:07.9785142Z Ran 1 test in 0.001s
2026-08-11T01:52:07.9785277Z
2026-08-11T01:52:07.9785358Z FAILED (failures=1)
2026-08-11T01:52:07.9785946Z - generated xml file: /home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/build/rqt_joint_trajectory_controller/pytest.xml -
2026-08-11T01:52:07.9787024Z �[36m�[1m=========================== short test summary info ============================�[0m
2026-08-11T01:52:07.9788791Z �[31mFAILED�[0m test/test_run_launch.py::�[1mtest.test_run_launch�[0m - test.test_run_launch.TestShutdown.test_exit_codes failed
2026-08-11T01:52:07.9790198Z �[31m========================= �[31m�[1m1 failed�[0m, �[32m28 passed�[0m�[31m in 3.35s�[0m�[31m =========================�[0m
2026-08-11T01:52:07.9790937Z ---
2026-08-11T01:52:07.9791462Z Finished <<< rqt_joint_trajectory_controller [5.08s] [ with test failures ]
Describe the bug
To Reproduce
#2553