Fix for false negative tests in rosbag2_py (#1592)

* Fix for false negative tests in rosbag2_py

-  wait_for(condition: Callable, timout) was incorrectly returning True
after the first iteration even if condition was false.

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

* Address review comments in regards bag_path optimization

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

---------

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
(cherry picked from commit 66af399)

# Conflicts:
#	rosbag2_py/test/test_transport.py

rosbag2_py/test/common.py

@@ -41,4 +41,4 @@ def wait_for(
         if clock.now() - start > timeout:
             return False
         time.sleep(sleep_time)
-        return True
+    return True

rosbag2_py/test/test_transport.py

@@ -13,9 +13,12 @@
 # limitations under the License.
 
 import datetime
+<<<<<<< HEAD
 import os
 from pathlib import Path
 import sys
+=======
+>>>>>>> 66af3999 (Fix for false negative tests in rosbag2_py (#1592))
 import threading
 
 
@@ -49,6 +52,7 @@ def test_options_qos_conversion():
     assert record_options.topic_qos_profile_overrides == simple_overrides
 
 
+<<<<<<< HEAD
 def test_player_log_level():
     rosbag2_py.Player()  # Test for default constructor
     valid_log_level = 'debug'
@@ -72,6 +76,12 @@ def test_recoder_log_level():
 def test_record_cancel(tmp_path):
     bag_path = str(tmp_path / 'test_record_cancel')
     storage_options, converter_options = get_rosbag_options(bag_path)
+=======
+@pytest.mark.parametrize('storage_id', TESTED_STORAGE_IDS)
+def test_record_cancel(tmp_path, storage_id):
+    bag_path = tmp_path / 'test_record_cancel'
+    storage_options, converter_options = get_rosbag_options(str(bag_path), storage_id)
+>>>>>>> 66af3999 (Fix for false negative tests in rosbag2_py (#1592))
 
     recorder = rosbag2_py.Recorder()
 
@@ -102,8 +112,21 @@ def test_record_cancel(tmp_path):
 
     recorder.cancel()
 
+<<<<<<< HEAD
     metadata_path = Path(bag_path) / 'metadata.yaml'
     db3_path = Path(bag_path) / 'test_record_cancel_0.db3'
     assert wait_for(lambda: metadata_path.is_file() and db3_path.is_file(),
                     timeout=rclpy.duration.Duration(seconds=3))
     record_thread.join()
+=======
+    metadata_io = rosbag2_py.MetadataIo()
+    assert wait_for(lambda: metadata_io.metadata_file_exists(str(bag_path)),
+                    timeout=rclpy.duration.Duration(seconds=3))
+    record_thread.join()
+
+    metadata = metadata_io.read_metadata(str(bag_path))
+    assert len(metadata.relative_file_paths)
+    storage_path = bag_path / metadata.relative_file_paths[0]
+    assert wait_for(lambda: storage_path.is_file(),
+                    timeout=rclpy.duration.Duration(seconds=3))
+>>>>>>> 66af3999 (Fix for false negative tests in rosbag2_py (#1592))