Don't use a separate thread for the e-stop test, don't manually destroy the subscription to the MCU status topic

Author: civerachb-cpr

clearpath_tests/clearpath_tests/estop_test.py

@@ -26,8 +26,6 @@
 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
-import threading
-
 from clearpath_tests.test_node import ClearpathTestNode, ClearpathTestResult
 
 from geometry_msgs.msg import TwistStamped
@@ -101,11 +99,9 @@ def run_test(self):
 
         self.results = []
         self.test_done = False
-        ui_thread = threading.Thread(target=self.run_ui)
-        ui_thread.start()
-        while not self.test_done:
-            pass
-        ui_thread.join()
+
+        self.run_ui()
+
         return self.results
 
     def cmd_vel_timer_callback(self):

clearpath_tests/clearpath_tests/mcu_test.py

@@ -185,7 +185,7 @@ def get_firmware_version(self):
         def mcu_callback(status):
             self.mcu_status = status
 
-        mcu_sub = self.node.create_subscription(
+        self.mcu_sub = self.node.create_subscription(
             Status,
             f'/{self.namespace}/platform/mcu/status',
             mcu_callback,
@@ -196,7 +196,6 @@ def mcu_callback(status):
         timeout_duration = Duration(seconds=10)
         while self.get_clock().now() - start_at <= timeout_duration and self.mcu_status is None:
             pass
-        mcu_sub.destroy()
 
         if self.mcu_status is None:
             return (None, None)