Make test multi threaded executor more reliable (#1105)

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

rclcpp/CMakeLists.txt

@@ -604,7 +604,6 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_multi_threaded_executor
       "rcl")
     target_link_libraries(test_multi_threaded_executor ${PROJECT_NAME})
-    ament_add_test_label(test_multi_threaded_executor xfail)
   endif()
 
   ament_add_gtest(test_guard_condition test/test_guard_condition.cpp

rclcpp/test/executors/test_multi_threaded_executor.cpp

@@ -34,6 +34,10 @@ class TestMultiThreadedExecutor : public ::testing::Test
   }
 };
 
+constexpr std::chrono::milliseconds PERIOD_MS = 1000ms;
+constexpr double PERIOD = PERIOD_MS.count() / 1000.0;
+constexpr double TOLERANCE = PERIOD / 4.0;
+
 /*
    Test that timers are not taken multiple times when using reentrant callback groups.
  */
@@ -70,9 +74,6 @@ TEST_F(TestMultiThreadedExecutor, timer_over_take) {
       // While this tolerance is a little wide, if the bug occurs, the next step will
       // happen almost instantly. The purpose of this test is not to measure the jitter
       // in timers, just assert that a reasonable amount of time has passed.
-      const double PERIOD = 0.1f;
-      const double TOLERANCE = 0.025f;
-
       rclcpp::Time now = system_clock.now();
       timer_count++;
 
@@ -92,7 +93,7 @@ TEST_F(TestMultiThreadedExecutor, timer_over_take) {
       }
     };
 
-  auto timer = node->create_wall_timer(100ms, timer_callback, cbg);
+  auto timer = node->create_wall_timer(PERIOD_MS, timer_callback, cbg);
   executor.add_node(node);
   executor.spin();
 }