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Use rmw_test_fixture to isolate ros2cli tests (backport #1062) #1106

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Use rmw_test_fixture to isolate ros2cli tests (backport #1062) #1106

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afc5f9a
Use rmw_test_fixture to isolate ros2cli tests (#1062)
cottsay Jul 15, 2025
3a9dc94
Fujitatomoya/clearup isolated ros2daemon (#1098)
fujitatomoya Sep 4, 2025
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23 changes: 19 additions & 4 deletions ros2action/test/test_cli.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,12 +20,14 @@

from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch.actions import SetEnvironmentVariable

import launch_testing
import launch_testing.actions
import launch_testing.asserts
import launch_testing.markers
import launch_testing.tools
from launch_testing_ros.actions import EnableRmwIsolation
import launch_testing_ros.tools

import pytest
Expand All @@ -51,23 +53,35 @@ def generate_test_description(rmw_implementation):
os.path.dirname(__file__), 'fixtures', 'fibonacci_action_server.py'
)
additional_env = get_rmw_additional_env(rmw_implementation)
set_env_actions = [SetEnvironmentVariable(k, v) for k, v in additional_env.items()]
return LaunchDescription([
# Always restart daemon to isolate tests.
ExecuteProcess(
cmd=['ros2', 'daemon', 'stop'],
name='daemon-stop',
on_exit=[
*set_env_actions,
EnableRmwIsolation(),
RegisterEventHandler(OnShutdown(on_shutdown=[
# Stop daemon in isolated environment with proper ROS_DOMAIN_ID
ExecuteProcess(
cmd=['ros2', 'daemon', 'stop'],
name='daemon-stop-isolated',
# Use the same isolated environment
additional_env=dict(additional_env),
),
# This must be done after stopping the daemon in the isolated environment
ResetEnvironment(),
])),
ExecuteProcess(
cmd=['ros2', 'daemon', 'start'],
name='daemon-start',
on_exit=[
ExecuteProcess(
cmd=[sys.executable, path_to_action_server_executable],
additional_env=additional_env,
),
launch_testing.actions.ReadyToTest()
],
additional_env=additional_env,
)
]
),
Expand Down Expand Up @@ -115,8 +129,9 @@ def setUpClass(
):
@contextlib.contextmanager
def launch_action_command(self, arguments):
additional_env = get_rmw_additional_env(rmw_implementation)
additional_env['PYTHONUNBUFFERED'] = '1'
additional_env = {
'PYTHONUNBUFFERED': '1',
}

action_command_action = ExecuteProcess(
cmd=['ros2', 'action', *arguments],
Expand Down
23 changes: 19 additions & 4 deletions ros2action/test/test_echo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,13 +21,15 @@

from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch.actions import SetEnvironmentVariable

import launch_testing
import launch_testing.actions
import launch_testing.asserts
import launch_testing.markers
import launch_testing.tools

from launch_testing_ros.actions import EnableRmwIsolation
import launch_testing_ros.tools

from osrf_pycommon.terminal_color import remove_ansi_escape_sequences
Expand Down Expand Up @@ -221,23 +223,35 @@ def generate_test_description(rmw_implementation):
os.path.dirname(__file__), 'fixtures', 'fibonacci_action_introspection.py'
)
additional_env = get_rmw_additional_env(rmw_implementation)
set_env_actions = [SetEnvironmentVariable(k, v) for k, v in additional_env.items()]
return LaunchDescription([
# Always restart daemon to isolate tests.
ExecuteProcess(
cmd=['ros2', 'daemon', 'stop'],
name='daemon-stop',
on_exit=[
*set_env_actions,
EnableRmwIsolation(),
RegisterEventHandler(OnShutdown(on_shutdown=[
# Stop daemon in isolated environment with proper ROS_DOMAIN_ID
ExecuteProcess(
cmd=['ros2', 'daemon', 'stop'],
name='daemon-stop-isolated',
# Use the same isolated environment
additional_env=dict(additional_env),
),
# This must be done after stopping the daemon in the isolated environment
ResetEnvironment(),
])),
ExecuteProcess(
cmd=['ros2', 'daemon', 'start'],
name='daemon-start',
on_exit=[
ExecuteProcess(
cmd=[sys.executable, path_to_action_server_executable],
additional_env=additional_env
),
launch_testing.actions.ReadyToTest()
],
additional_env=additional_env
)
]
),
Expand All @@ -256,8 +270,9 @@ def setUpClass(
):
@contextlib.contextmanager
def launch_action_command(self, arguments):
additional_env = get_rmw_additional_env(rmw_implementation)
additional_env['PYTHONUNBUFFERED'] = '1'
additional_env = {
'PYTHONUNBUFFERED': '1',
}
action_command_action = ExecuteProcess(
cmd=['ros2', 'action', *arguments],
name='ros2action-cli', output='screen',
Expand Down
2 changes: 0 additions & 2 deletions ros2cli/ros2cli/helpers.py
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Original file line number Diff line number Diff line change
Expand Up @@ -127,8 +127,6 @@ def get_rmw_additional_env(rmw_implementation: str) -> Dict[str, str]:
if rmw_implementation == 'rmw_zenoh_cpp':
return {
'RMW_IMPLEMENTATION': rmw_implementation,
'ZENOH_ROUTER_CHECK_ATTEMPTS': '-1',
'ZENOH_CONFIG_OVERRIDE': 'scouting/multicast/enabled=true',
'RUST_LOG': 'z=error'
}
else:
Expand Down
24 changes: 16 additions & 8 deletions ros2doctor/test/test_qos_compatibility.py
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@

from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch.actions import SetEnvironmentVariable

from launch_ros.actions import Node

Expand All @@ -27,6 +28,7 @@
import launch_testing.asserts
import launch_testing.markers
import launch_testing.tools
from launch_testing_ros.actions import EnableRmwIsolation
import launch_testing_ros.tools

import pytest
Expand All @@ -49,6 +51,7 @@ def generate_test_description(rmw_implementation):
path_to_fixtures = os.path.join(os.path.dirname(__file__), 'fixtures')
additional_env = get_rmw_additional_env(rmw_implementation)
additional_env['PYTHONUNBUFFERED'] = '1'
set_env_actions = [SetEnvironmentVariable(k, v) for k, v in additional_env.items()]

path_to_incompatible_talker_node_script = os.path.join(
path_to_fixtures, 'talker_node_with_best_effort_qos.py')
Expand All @@ -62,25 +65,21 @@ def generate_test_description(rmw_implementation):
executable=sys.executable,
arguments=[path_to_compatible_talker_node_script],
remappings=[('chatter', 'compatible_chatter')],
additional_env=additional_env
)
listener_node_compatible = Node(
executable=sys.executable,
arguments=[path_to_listener_node_script],
remappings=[('chatter', 'compatible_chatter')],
additional_env=additional_env
)
talker_node_incompatible = Node(
executable=sys.executable,
arguments=[path_to_incompatible_talker_node_script],
remappings=[('chatter', 'incompatible_chatter')],
additional_env=additional_env
)
listener_node_incompatible = Node(
executable=sys.executable,
arguments=[path_to_listener_node_script],
remappings=[('chatter', 'incompatible_chatter')],
additional_env=additional_env
)

return LaunchDescription([
Expand All @@ -89,6 +88,19 @@ def generate_test_description(rmw_implementation):
cmd=['ros2', 'daemon', 'stop'],
name='daemon-stop',
on_exit=[
*set_env_actions,
EnableRmwIsolation(),
RegisterEventHandler(OnShutdown(on_shutdown=[
# Stop daemon in isolated environment with proper ROS_DOMAIN_ID
ExecuteProcess(
cmd=['ros2', 'daemon', 'stop'],
name='daemon-stop-isolated',
# Use the same isolated environment
additional_env=dict(additional_env),
),
# This must be done after stopping the daemon in the isolated environment
ResetEnvironment(),
])),
ExecuteProcess(
cmd=['ros2', 'daemon', 'start'],
name='daemon-start',
Expand All @@ -100,7 +112,6 @@ def generate_test_description(rmw_implementation):
listener_node_compatible,
launch_testing.actions.ReadyToTest()
],
additional_env=additional_env
)
]
),
Expand Down Expand Up @@ -128,11 +139,8 @@ def setUpClass(

@contextlib.contextmanager
def launch_doctor_command(self, arguments):
additional_env = get_rmw_additional_env(rmw_implementation)
additional_env['PYTHONUNBUFFERED'] = '1'
doctor_command_action = ExecuteProcess(
cmd=['ros2', 'doctor', *arguments],
additional_env=additional_env,
name='ros2doctor-cli',
output='screen'
)
Expand Down
24 changes: 19 additions & 5 deletions ros2lifecycle/test/test_cli.py
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -18,13 +18,15 @@

from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch.actions import SetEnvironmentVariable
from launch_ros.actions import Node

import launch_testing
import launch_testing.actions
import launch_testing.asserts
import launch_testing.markers
import launch_testing.tools
from launch_testing_ros.actions import EnableRmwIsolation
import launch_testing_ros.tools

import pytest
Expand Down Expand Up @@ -124,12 +126,26 @@
@launch_testing.parametrize('rmw_implementation', get_available_rmw_implementations())
def generate_test_description(rmw_implementation):
additional_env = get_rmw_additional_env(rmw_implementation)
set_env_actions = [SetEnvironmentVariable(k, v) for k, v in additional_env.items()]
return LaunchDescription([
# Always restart daemon to isolate tests.
ExecuteProcess(
cmd=['ros2', 'daemon', 'stop'],
name='daemon-stop',
on_exit=[
*set_env_actions,
EnableRmwIsolation(),
RegisterEventHandler(OnShutdown(on_shutdown=[
# Stop daemon in isolated environment with proper ROS_DOMAIN_ID
ExecuteProcess(
cmd=['ros2', 'daemon', 'stop'],
name='daemon-stop-isolated',
# Use the same isolated environment
additional_env=dict(additional_env),
),
# This must be done after stopping the daemon in the isolated environment
ResetEnvironment(),
])),
ExecuteProcess(
cmd=['ros2', 'daemon', 'start'],
name='daemon-start',
Expand All @@ -140,18 +156,15 @@ def generate_test_description(rmw_implementation):
executable='simple_lifecycle_node',
name='test_lifecycle_node',
output='screen',
additional_env=additional_env
),
Node(
package='ros2lifecycle_test_fixtures',
executable='simple_lifecycle_node',
name='_hidden_test_lifecycle_node',
output='screen',
additional_env=additional_env
),
launch_testing.actions.ReadyToTest()
],
additional_env=additional_env
)
]
),
Expand All @@ -170,8 +183,9 @@ def setUpClass(
):
@contextlib.contextmanager
def launch_lifecycle_command(self, arguments):
additional_env = get_rmw_additional_env(rmw_implementation)
additional_env['PYTHONUNBUFFERED'] = '1'
additional_env = {
'PYTHONUNBUFFERED': '1',
}
lifecycle_command_action = ExecuteProcess(
cmd=['ros2', 'lifecycle', *arguments],
additional_env=additional_env,
Expand Down
24 changes: 19 additions & 5 deletions ros2node/test/test_cli.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@

from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch.actions import SetEnvironmentVariable

from launch_ros.actions import Node

Expand All @@ -29,6 +30,7 @@
import launch_testing.asserts
import launch_testing.markers
import launch_testing.tools
from launch_testing_ros.actions import EnableRmwIsolation
import launch_testing_ros.tools

import pytest
Expand All @@ -52,12 +54,26 @@ def generate_test_description(rmw_implementation):
os.path.dirname(__file__), 'fixtures', 'complex_node.py'
)
additional_env = get_rmw_additional_env(rmw_implementation)
set_env_actions = [SetEnvironmentVariable(k, v) for k, v in additional_env.items()]
return LaunchDescription([
# Always restart daemon to isolate tests.
ExecuteProcess(
cmd=['ros2', 'daemon', 'stop'],
name='daemon-stop',
on_exit=[
*set_env_actions,
EnableRmwIsolation(),
RegisterEventHandler(OnShutdown(on_shutdown=[
# Stop daemon in isolated environment with proper ROS_DOMAIN_ID
ExecuteProcess(
cmd=['ros2', 'daemon', 'stop'],
name='daemon-stop-isolated',
# Use the same isolated environment
additional_env=dict(additional_env),
),
# This must be done after stopping the daemon in the isolated environment
ResetEnvironment(),
])),
ExecuteProcess(
cmd=['ros2', 'daemon', 'start'],
name='daemon-start',
Expand All @@ -67,17 +83,14 @@ def generate_test_description(rmw_implementation):
executable=sys.executable,
arguments=[path_to_complex_node_script],
name='complex_node',
additional_env=additional_env
),
Node(
executable=sys.executable,
arguments=[path_to_complex_node_script],
name='_hidden_complex_node',
additional_env=additional_env
),
launch_testing.actions.ReadyToTest()
],
additional_env=additional_env
)
]
),
Expand All @@ -96,8 +109,9 @@ def setUpClass(
):
@contextlib.contextmanager
def launch_node_command(self, arguments):
additional_env = get_rmw_additional_env(rmw_implementation)
additional_env['PYTHONUNBUFFERED'] = '1'
additional_env = {
'PYTHONUNBUFFERED': '1',
}

node_command_action = ExecuteProcess(
cmd=['ros2', 'node', *arguments],
Expand Down
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