Reduce flakiness in ros2bag record tests via fixing their expectations

- Replace waiting for the `/rosout` topic on waiting for the rosbag2
internal `/events/write_split`. Rationale:
The `/rosout` topic may not be enabled on the CI.
- Replace expectation for the `Listening for topics...` on
`Recording...` which is appearing at the very end of the
Recorder::record(). Rationale:
It was possible a race condition when test was
sending the SIGINT while we haven't yet finished call for
Recorder::record().

Signed-off-by: Michael Orlov <[email protected]>

Author: morlov-apexai

ros2bag/test/test_record.py

@@ -53,13 +53,10 @@ class TestRecord(unittest.TestCase):
 
     def test_output(self, record_all_process, proc_output):
         proc_output.assertWaitFor(
-            'Listening for topics...',
-            process=record_all_process
-        )
-        proc_output.assertWaitFor(
-            "Subscribed to topic '/rosout'",
+            "Subscribed to topic '/events/write_split'",
             process=record_all_process
         )
+        proc_output.assertWaitFor('Recording...', process=record_all_process)
 
 
 @launch_testing.post_shutdown_test()

ros2bag/test/test_record_qos_profiles.py

@@ -84,7 +84,7 @@ def test_qos_simple(self):
         output_path = Path(self.tmpdir.name) / 'ros2bag_test_basic'
         arguments = ['record', '-a', '--qos-profile-overrides-path', profile_path.as_posix(),
                      '--output', output_path.as_posix()]
-        expected_output = 'Listening for topics...'
+        expected_output = 'Recording...'
         with self.launch_bag_command(arguments=arguments) as bag_command:
             bag_command.wait_for_output(
                 condition=lambda output: expected_output in output,
@@ -99,7 +99,7 @@ def test_incomplete_qos_profile(self):
         output_path = Path(self.tmpdir.name) / 'ros2bag_test_incomplete'
         arguments = ['record', '-a', '--qos-profile-overrides-path', profile_path.as_posix(),
                      '--output', output_path.as_posix()]
-        expected_output = 'Listening for topics...'
+        expected_output = 'Recording...'
         with self.launch_bag_command(arguments=arguments) as bag_command:
             bag_command.wait_for_output(
                 condition=lambda output: expected_output in output,