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Switch to isolated testing via rmw_test_fixture #2929

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72d7d65
Switch to rmw_test_fixture for isolated testing
Yadunund Aug 8, 2025
4c71783
Fix macro name
Yadunund Aug 21, 2025
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3 changes: 1 addition & 2 deletions rclcpp/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -47,9 +47,8 @@
<depend>statistics_msgs</depend>
<depend>tracetools</depend>

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

<test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>mimick_vendor</test_depend>
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16 changes: 4 additions & 12 deletions rclcpp/test/rclcpp/CMakeLists.txt
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Expand Up @@ -662,32 +662,24 @@ endif()
function(test_on_all_rmws)
set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})

# If the rmw_implementation is rmw_zenoh_cpp, run the tests with multicast discovery enabled.
# Note: This is a temporary change that will be reverted before we branch into Kilted.
if(rmw_implementation STREQUAL "rmw_zenoh_cpp")
list(APPEND rmw_implementation_env_var
ZENOH_CONFIG_OVERRIDE=scouting/multicast/enabled=true
)
endif()

ament_add_gmock_test(test_qos_event
ament_add_ros_isolated_gmock(test_qos_event
TEST_NAME test_qos_event${target_suffix}
ENV ${rmw_implementation_env_var}
)
ament_add_test_label(test_qos_event${target_suffix} mimick)

ament_add_gmock_test(test_generic_pubsub
ament_add_ros_isolated_gmock(test_generic_pubsub
TEST_NAME test_generic_pubsub${target_suffix}
ENV ${rmw_implementation_env_var}
)

ament_add_gmock_test(test_add_callback_groups_to_executor
ament_add_ros_isolated_gmock(test_add_callback_groups_to_executor
TEST_NAME test_add_callback_groups_to_executor${target_suffix}
ENV ${rmw_implementation_env_var}
TIMEOUT 120
)

ament_add_gmock_test(test_subscription_content_filter
ament_add_ros_isolated_gmock(test_subscription_content_filter
TEST_NAME test_subscription_content_filter${target_suffix}
ENV ${rmw_implementation_env_var}
TIMEOUT 120
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