Re-enable flaky PSM test and increase timeout

Author: sea-bass

moveit_ros/planning/planning_scene_monitor/CMakeLists.txt

@@ -49,6 +49,7 @@ if(BUILD_TESTING)
                   test/current_state_monitor_tests.cpp)
   target_link_libraries(current_state_monitor_tests
                         moveit_planning_scene_monitor)
+  
   ament_add_gmock(trajectory_monitor_tests test/trajectory_monitor_tests.cpp)
   target_link_libraries(trajectory_monitor_tests moveit_planning_scene_monitor)
 
@@ -58,6 +59,7 @@ if(BUILD_TESTING)
                         moveit_planning_scene_monitor)
   ament_target_dependencies(planning_scene_monitor_test moveit_core rclcpp
                             moveit_msgs)
-  add_ros_test(test/launch/planning_scene_monitor.test.py TIMEOUT 30 ARGS
+
+  add_ros_test(test/launch/planning_scene_monitor.test.py TIMEOUT 90 ARGS
                "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
 endif()

moveit_ros/planning/planning_scene_monitor/test/launch/planning_scene_monitor.test.py

@@ -80,15 +80,13 @@ def generate_test_description():
 
 
 class TestGTestWaitForCompletion(unittest.TestCase):
-    @unittest.skip("Flaky test on humble, see moveit2#2821")
     # Waits for test to complete, then waits a bit to make sure result files are generated
     def test_gtest_run_complete(self, psm_gtest):
         self.proc_info.assertWaitForShutdown(psm_gtest, timeout=4000.0)
 
 
 @launch_testing.post_shutdown_test()
 class TestGTestProcessPostShutdown(unittest.TestCase):
-    @unittest.skip("Flaky test on humble, see moveit2#2821")
     # Checks if the test has been completed with acceptable exit codes (successful codes)
     def test_gtest_pass(self, proc_info, psm_gtest):
         launch_testing.asserts.assertExitCodes(proc_info, process=psm_gtest)