From 328efb2ecfa65ad159b325375c22b3e433bbfc1f Mon Sep 17 00:00:00 2001
From: Tomoya Fujita <Tomoya.Fujita@sony.com>
Date: Thu, 26 Oct 2023 00:08:18 -0700
Subject: [PATCH] address rate related flaky tests. (#2329)

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
(cherry picked from commit fcbe64cff4bea3109531254ceb2955dc4b1bb320)
---
 rclcpp/src/rclcpp/context.cpp    |  2 +-
 rclcpp/test/rclcpp/test_rate.cpp | 20 +++++++++++++++++---
 2 files changed, 18 insertions(+), 4 deletions(-)

diff --git a/rclcpp/src/rclcpp/context.cpp b/rclcpp/src/rclcpp/context.cpp
index b9410ca089..33bd0bf0b9 100644
--- a/rclcpp/src/rclcpp/context.cpp
+++ b/rclcpp/src/rclcpp/context.cpp
@@ -497,7 +497,7 @@ Context::sleep_for(const std::chrono::nanoseconds & nanoseconds)
       std::unique_lock<std::mutex> lock(interrupt_mutex_);
       auto start = std::chrono::steady_clock::now();
       // this will release the lock while waiting
-      interrupt_condition_variable_.wait_for(lock, nanoseconds);
+      interrupt_condition_variable_.wait_for(lock, time_left);
       time_left -= std::chrono::steady_clock::now() - start;
     }
   } while (time_left > std::chrono::nanoseconds::zero() && this->is_valid());
diff --git a/rclcpp/test/rclcpp/test_rate.cpp b/rclcpp/test/rclcpp/test_rate.cpp
index d6608d59f6..7120805429 100644
--- a/rclcpp/test/rclcpp/test_rate.cpp
+++ b/rclcpp/test/rclcpp/test_rate.cpp
@@ -18,10 +18,24 @@
 
 #include "rclcpp/rate.hpp"
 
+class TestRate : public ::testing::Test
+{
+public:
+  void SetUp()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void TearDown()
+  {
+    rclcpp::shutdown();
+  }
+};
+
 /*
    Basic tests for the Rate and WallRate classes.
  */
-TEST(TestRate, rate_basics) {
+TEST_F(TestRate, rate_basics) {
   auto period = std::chrono::milliseconds(1000);
   auto offset = std::chrono::milliseconds(500);
   auto epsilon = std::chrono::milliseconds(100);
@@ -61,7 +75,7 @@ TEST(TestRate, rate_basics) {
   ASSERT_TRUE(epsilon > delta);
 }
 
-TEST(TestRate, wall_rate_basics) {
+TEST_F(TestRate, wall_rate_basics) {
   auto period = std::chrono::milliseconds(100);
   auto offset = std::chrono::milliseconds(50);
   auto epsilon = std::chrono::milliseconds(1);
@@ -101,7 +115,7 @@ TEST(TestRate, wall_rate_basics) {
   EXPECT_GT(epsilon, delta);
 }
 
-TEST(TestRate, from_double) {
+TEST_F(TestRate, from_double) {
   {
     rclcpp::WallRate rate(1.0);
     EXPECT_EQ(std::chrono::seconds(1), rate.period());