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Switch to isolated testing via rmw_test_fixture #2929

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@Yadunund Yadunund commented Aug 8, 2025

Description

This PR effectively reverts #2776 and relies on rmw_test_fixture to start a zenoh router when testing with rmw_zenoh.

Fixes # (issue)

Partially addresses ros2/ros2#1664

Is this user-facing behavior change?

No

Did you use Generative AI?

No

Additional Information

rclcpp/CMakeLists.txt already calls find_package(ament_cmake_ros REQUIRED).

@Yadunund Yadunund mentioned this pull request Aug 8, 2025
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ahcorde commented Aug 18, 2025

Pulls: #2929
Gist: https://gist.githubusercontent.com/ahcorde/436918e6cfa2098431afbe782c400999/raw/168dacfcbbb5e9de67dc68148bb21245279a3ccb/ros2.repos
BUILD args: --packages-above-and-dependencies rclcpp
TEST args: --packages-above rclcpp
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/16734

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@Yadunund
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Signed-off-by: Yadunund <[email protected]>
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Pulls: #2929
Gist: https://gist.githubusercontent.com/ahcorde/436918e6cfa2098431afbe782c400999/raw/168dacfcbbb5e9de67dc68148bb21245279a3ccb/ros2.repos
BUILD args: --packages-above-and-dependencies rclcpp
TEST args: --packages-above rclcpp
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/16766

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

@Yadunund Yadunund requested a review from cottsay August 21, 2025 17:53
cottsay
cottsay requested changes Aug 26, 2025
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Just one comment

rclcpp/package.xml
Comment on lines -50 to -52
<test_depend>ament_cmake_gmock</test_depend>
<test_depend>ament_cmake_google_benchmark</test_depend>
<test_depend>ament_cmake_gtest</test_depend>
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There are still un-isolated gmock/gtest tests in this package, so I think these dependencies should stay.

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@cottsay cottsay cottsay requested changes

@mjcarroll mjcarroll mjcarroll approved these changes

@ahcorde ahcorde ahcorde approved these changes

@fujitatomoya fujitatomoya fujitatomoya approved these changes

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@Yadunund @ahcorde @mjcarroll @cottsay @fujitatomoya