Fix wrench transformer namespace test flake

[dlanov]

Summary

Fix the flaky wrench transformer namespace tests by replacing timing-sensitive, one-shot ROS graph checks with bounded polling.

Changes

• Add a test helper that waits for a publisher on an exact topic using the ROS graph API.
• Update the root-namespace and custom-namespace tests to use bounded polling.
• Preserve the existing topic-name assertions.
• Keep the change limited to test code; no production behavior is modified.

Testing

• colcon build --symlink-install --packages-up-to force_torque_sensor_broadcaster --cmake-args -DBUILD_TESTING=ON

• colcon test --packages-select force_torque_sensor_broadcaster --event-handlers console_cohesion+

• colcon test-result --verbose

• Repeated both namespace tests 100 times:

  • TestWrenchTransformer.NamespaceNormalizationRootNamespace
  • TestWrenchTransformer.NamespaceNormalizationCustomNamespace

• pre-commit run --files force_torque_sensor_broadcaster/test/test_wrench_transformer.cpp

• git diff --check

Results:

• 35 package tests
• 0 errors
• 0 failures
• 0 skipped
• 100 repeated namespace-test iterations passed
• All applicable pre-commit checks passed

Closes #2487

AI assistance

Claude Code assisted with analyzing and preparing the narrowly scoped test change. I manually reviewed the complete diff and verified the build, package tests, repeated stress tests, formatting, lint, and whitespace-check results.

[saikishor]

Is this API compatible on Humble?

Let's see what the CI says

[codecov]

Codecov Report

❌ Patch coverage is 33.33333% with 4 lines in your changes missing coverage. Please review.
✅ Project coverage is 86.85%. Comparing base (c7b97ca) to head (3d2b5ed).
⚠️ Report is 6 commits behind head on master.

Files with missing lines	Patch %	Lines
...ensor_broadcaster/test/test_wrench_transformer.cpp	33.33%	3 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2492      +/-   ##
==========================================
+ Coverage   86.83%   86.85%   +0.01%     
==========================================
  Files         148      148              
  Lines       16273    16267       -6     
  Branches     1368     1367       -1     
==========================================
- Hits        14131    14128       -3     
+ Misses       1635     1632       -3     
  Partials      507      507              

Flag	Coverage Δ
unittests	86.85% <33.33%> (+0.01%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...ensor_broadcaster/test/test_wrench_transformer.cpp	92.02% <33.33%> (+0.16%)	⬆️

... and 1 file with indirect coverage changes

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[christophfroehlich]

Thank you!