docs(nav): 阅读路径导航 + 数字统一

src/py_srv/test/test_srv.py

@@ -30,7 +30,7 @@ def test_service_inproc_roundtrip(ros_context):
     req.a = 7
     req.b = 35
 
-    future = client.client.call_async(req)
+    future = client._client.call_async(req)
     end = time.time() + 3.0
     while not future.done() and time.time() < end:
         exec_.spin_once(timeout_sec=0.05)

src/py_srv/test/test_srv_client.py

@@ -18,26 +18,28 @@ def test_client_calls_server_inproc(ros_context: None) -> None:
     executor.add_node(server)
     executor.add_node(client)
 
-    # 触发 client 调用
-    result_future_container: list = []
+    # 等 service 就绪
+    deadline = time.time() + 3.0
+    while time.time() < deadline:
+        executor.spin_once(timeout_sec=0.05)
+        if client._client.service_is_ready():
+            break
 
-    def call_in_thread() -> None:
-        # 给点时间让 server 注册(同进程也需要一点 spin 时间)
-        deadline = time.time() + 2.0
-        while time.time() < deadline:
-            executor.spin_once(timeout_sec=0.05)
-            if client._client.service_is_ready():
-                break
-        result = client.call_once(12, 30, timeout_sec=3.0)
-        result_future_container.append(result)
+    assert client._client.service_is_ready(), 'service not ready'
 
-    import threading
-    t = threading.Thread(target=call_in_thread)
-    t.start()
-    t.join(timeout=5.0)
+    # 发请求
+    req = AddTwoInts.Request()
+    req.a = 12
+    req.b = 30
+    future = client._client.call_async(req)
+
+    end = time.time() + 3.0
+    while not future.done() and time.time() < end:
+        executor.spin_once(timeout_sec=0.05)
+
+    assert future.done(), 'service call did not complete in 3s'
+    assert future.result() is not None
+    assert future.result().sum == 42
 
     server.destroy_node()
     client.destroy_node()
-
-    assert len(result_future_container) == 1
-    assert result_future_container[0] == 42