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Update CMakeLists.txt to use add_ros_isolated_launch_test (backport #926) #927

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Update CMakeLists.txt to use add_ros_isolated_launch_test (backport #926) #927

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3b01001
Update CMakeLists.txt to use add_ros_isolated_launch_test (#926)
jsantoso91 Oct 1, 2025
797d1f3
Remove ex16 and ex17
christophfroehlich Oct 2, 2025
59f406b
Fix merge conflicts
christophfroehlich Oct 2, 2025
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15 changes: 11 additions & 4 deletions example_1/CMakeLists.txt
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Expand Up @@ -64,11 +64,18 @@ install(TARGETS ros2_control_demo_example_1

if(BUILD_TESTING)
find_package(ament_cmake_pytest REQUIRED)

ament_add_pytest_test(example_1_urdf_xacro test/test_urdf_xacro.py)
ament_add_pytest_test(view_example_1_launch test/test_view_robot_launch.py)
ament_add_pytest_test(run_example_1_launch test/test_rrbot_launch.py)
ament_add_pytest_test(run_example_1_launch_cli_direct test/test_rrbot_launch_cli_direct.py)

# Integration (launch) tests
find_package(ament_cmake_ros REQUIRED)
find_package(launch_testing_ament_cmake REQUIRED)
function(add_ros_isolated_launch_test path)
set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
endfunction()
add_ros_isolated_launch_test(test/test_view_robot_launch.py)
add_ros_isolated_launch_test(test/test_rrbot_launch.py)
add_ros_isolated_launch_test(test/test_rrbot_launch_cli_direct.py)
endif()


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8 changes: 5 additions & 3 deletions example_1/package.xml
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Expand Up @@ -37,10 +37,12 @@
<exec_depend>xacro</exec_depend>

<test_depend>ament_cmake_pytest</test_depend>
<test_depend>controller_manager</test_depend>
<test_depend>launch_testing_ros</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>launch_testing_ament_cmake</test_depend>
<test_depend>launch_testing</test_depend>
<test_depend>launch</test_depend>
<test_depend>liburdfdom-tools</test_depend>
<test_depend>xacro</test_depend>
<test_depend>rclpy</test_depend>

<export>
<build_type>ament_cmake</build_type>
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13 changes: 10 additions & 3 deletions example_10/CMakeLists.txt
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Expand Up @@ -66,10 +66,17 @@ install(TARGETS ros2_control_demo_example_10

if(BUILD_TESTING)
find_package(ament_cmake_pytest REQUIRED)

ament_add_pytest_test(example_10_urdf_xacro test/test_urdf_xacro.py)
ament_add_pytest_test(view_example_10_launch test/test_view_robot_launch.py)
ament_add_pytest_test(run_example_10_launch test/test_rrbot_launch.py)

# Integration (launch) tests
find_package(ament_cmake_ros REQUIRED)
find_package(launch_testing_ament_cmake REQUIRED)
function(add_ros_isolated_launch_test path)
set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
endfunction()
add_ros_isolated_launch_test(test/test_view_robot_launch.py)
add_ros_isolated_launch_test(test/test_rrbot_launch.py)
endif()

## EXPORTS
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8 changes: 5 additions & 3 deletions example_10/package.xml
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Expand Up @@ -36,10 +36,12 @@
<exec_depend>xacro</exec_depend>

<test_depend>ament_cmake_pytest</test_depend>
<test_depend>controller_manager</test_depend>
<test_depend>launch_testing_ros</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>launch_testing_ament_cmake</test_depend>
<test_depend>launch_testing</test_depend>
<test_depend>launch</test_depend>
<test_depend>liburdfdom-tools</test_depend>
<test_depend>xacro</test_depend>
<test_depend>rclpy</test_depend>

<export>
<build_type>ament_cmake</build_type>
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15 changes: 11 additions & 4 deletions example_11/CMakeLists.txt
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Expand Up @@ -64,11 +64,18 @@ install(TARGETS ros2_control_demo_example_11

if(BUILD_TESTING)
find_package(ament_cmake_pytest REQUIRED)

ament_add_pytest_test(example_11_urdf_xacro test/test_urdf_xacro.py)
ament_add_pytest_test(view_example_11_launch test/test_view_robot_launch.py)
ament_add_pytest_test(run_example_11_launch test/test_carlikebot_launch.py)
ament_add_pytest_test(run_example_11_launch_remapped test/test_carlikebot_launch_remapped.py)

# Integration (launch) tests
find_package(ament_cmake_ros REQUIRED)
find_package(launch_testing_ament_cmake REQUIRED)
function(add_ros_isolated_launch_test path)
set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
endfunction()
add_ros_isolated_launch_test(test/test_view_robot_launch.py)
add_ros_isolated_launch_test(test/test_carlikebot_launch.py)
add_ros_isolated_launch_test(test/test_carlikebot_launch_remapped.py)
endif()

## EXPORTS
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6 changes: 3 additions & 3 deletions example_11/package.xml
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Expand Up @@ -34,12 +34,12 @@
<exec_depend>xacro</exec_depend>

<test_depend>ament_cmake_pytest</test_depend>
<test_depend>controller_manager</test_depend>
<test_depend>launch_testing_ros</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>launch_testing_ament_cmake</test_depend>
<test_depend>launch_testing</test_depend>
<test_depend>launch</test_depend>
<test_depend>liburdfdom-tools</test_depend>
<test_depend>xacro</test_depend>
<test_depend>rclpy</test_depend>

<export>
<build_type>ament_cmake</build_type>
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13 changes: 10 additions & 3 deletions example_12/CMakeLists.txt
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Expand Up @@ -102,10 +102,17 @@ install(TARGETS

if(BUILD_TESTING)
find_package(ament_cmake_pytest REQUIRED)

ament_add_pytest_test(example_12_urdf_xacro test/test_urdf_xacro.py)
ament_add_pytest_test(view_example_12_launch test/test_view_robot_launch.py)
ament_add_pytest_test(run_example_12_launch test/test_rrbot_launch.py)

# Integration (launch) tests
find_package(ament_cmake_ros REQUIRED)
find_package(launch_testing_ament_cmake REQUIRED)
function(add_ros_isolated_launch_test path)
set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
endfunction()
add_ros_isolated_launch_test(test/test_view_robot_launch.py)
add_ros_isolated_launch_test(test/test_rrbot_launch.py)
endif()

## EXPORTS
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8 changes: 5 additions & 3 deletions example_12/package.xml
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Expand Up @@ -36,10 +36,12 @@
<exec_depend>xacro</exec_depend>

<test_depend>ament_cmake_pytest</test_depend>
<test_depend>controller_manager</test_depend>
<test_depend>launch_testing_ros</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>launch_testing_ament_cmake</test_depend>
<test_depend>launch_testing</test_depend>
<test_depend>launch</test_depend>
<test_depend>liburdfdom-tools</test_depend>
<test_depend>xacro</test_depend>
<test_depend>rclpy</test_depend>

<export>
<build_type>ament_cmake</build_type>
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3 changes: 0 additions & 3 deletions example_13/package.xml
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Expand Up @@ -33,14 +33,11 @@

<test_depend>ament_cmake_pytest</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>controller_manager</test_depend>
<test_depend>launch_ros</test_depend>
<test_depend>launch_testing_ament_cmake</test_depend>
<test_depend>launch_testing</test_depend>
<test_depend>launch</test_depend>
<test_depend>liburdfdom-tools</test_depend>
<test_depend>rclpy</test_depend>
<test_depend>xacro</test_depend>

<export>
<build_type>ament_cmake</build_type>
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13 changes: 10 additions & 3 deletions example_14/CMakeLists.txt
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Expand Up @@ -66,10 +66,17 @@ install(TARGETS ros2_control_demo_example_14

if(BUILD_TESTING)
find_package(ament_cmake_pytest REQUIRED)

ament_add_pytest_test(example_14_urdf_xacro test/test_urdf_xacro.py)
ament_add_pytest_test(view_example_14_launch test/test_view_robot_launch.py)
ament_add_pytest_test(run_example_14_launch test/test_rrbot_modular_actuators_without_feedback_sensors_for_position_feedback_launch.py)

# Integration (launch) tests
find_package(ament_cmake_ros REQUIRED)
find_package(launch_testing_ament_cmake REQUIRED)
function(add_ros_isolated_launch_test path)
set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
endfunction()
add_ros_isolated_launch_test(test/test_view_robot_launch.py)
add_ros_isolated_launch_test(test/test_rrbot_modular_actuators_without_feedback_sensors_for_position_feedback_launch.py)
endif()

## EXPORTS
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8 changes: 5 additions & 3 deletions example_14/package.xml
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Expand Up @@ -33,10 +33,12 @@
<exec_depend>xacro</exec_depend>

<test_depend>ament_cmake_pytest</test_depend>
<test_depend>controller_manager</test_depend>
<test_depend>launch_testing_ros</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>launch_testing_ament_cmake</test_depend>
<test_depend>launch_testing</test_depend>
<test_depend>launch</test_depend>
<test_depend>liburdfdom-tools</test_depend>
<test_depend>xacro</test_depend>
<test_depend>rclpy</test_depend>

<export>
<build_type>ament_cmake</build_type>
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14 changes: 9 additions & 5 deletions example_15/CMakeLists.txt
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Expand Up @@ -26,11 +26,15 @@ install(
)

if(BUILD_TESTING)
find_package(ament_cmake_pytest REQUIRED)

ament_add_pytest_test(test_rrbot_namespace_launch test/test_rrbot_namespace_launch.py)
ament_add_pytest_test(test_multi_controller_manager_launch test/test_multi_controller_manager_launch.py)

# Integration (launch) tests
find_package(ament_cmake_ros REQUIRED)
find_package(launch_testing_ament_cmake REQUIRED)
function(add_ros_isolated_launch_test path)
set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
endfunction()
add_ros_isolated_launch_test(test/test_rrbot_namespace_launch.py)
add_ros_isolated_launch_test(test/test_multi_controller_manager_launch.py)
endif()

## EXPORTS
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8 changes: 5 additions & 3 deletions example_15/package.xml
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Expand Up @@ -31,10 +31,12 @@
<exec_depend>xacro</exec_depend>

<test_depend>ament_cmake_pytest</test_depend>
<test_depend>controller_manager</test_depend>
<test_depend>launch_testing_ros</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>launch_testing_ament_cmake</test_depend>
<test_depend>launch_testing</test_depend>
<test_depend>launch</test_depend>
<test_depend>liburdfdom-tools</test_depend>
<test_depend>xacro</test_depend>
<test_depend>rclpy</test_depend>

<export>
<build_type>ament_cmake</build_type>
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13 changes: 10 additions & 3 deletions example_2/CMakeLists.txt
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Expand Up @@ -64,10 +64,17 @@ install(TARGETS ros2_control_demo_example_2

if(BUILD_TESTING)
find_package(ament_cmake_pytest REQUIRED)

ament_add_pytest_test(example_2_urdf_xacro test/test_urdf_xacro.py)
ament_add_pytest_test(view_example_2_launch test/test_view_robot_launch.py)
ament_add_pytest_test(run_example_2_launch test/test_diffbot_launch.py)

# Integration (launch) tests
find_package(ament_cmake_ros REQUIRED)
find_package(launch_testing_ament_cmake REQUIRED)
function(add_ros_isolated_launch_test path)
set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
endfunction()
add_ros_isolated_launch_test(test/test_view_robot_launch.py)
add_ros_isolated_launch_test(test/test_diffbot_launch.py)
endif()

## EXPORTS
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8 changes: 5 additions & 3 deletions example_2/package.xml
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Expand Up @@ -35,10 +35,12 @@
<exec_depend>xacro</exec_depend>

<test_depend>ament_cmake_pytest</test_depend>
<test_depend>controller_manager</test_depend>
<test_depend>launch_testing_ros</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>launch_testing_ament_cmake</test_depend>
<test_depend>launch_testing</test_depend>
<test_depend>launch</test_depend>
<test_depend>liburdfdom-tools</test_depend>
<test_depend>xacro</test_depend>
<test_depend>rclpy</test_depend>

<export>
<build_type>ament_cmake</build_type>
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13 changes: 10 additions & 3 deletions example_3/CMakeLists.txt
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Expand Up @@ -64,10 +64,17 @@ install(TARGETS ros2_control_demo_example_3

if(BUILD_TESTING)
find_package(ament_cmake_pytest REQUIRED)

ament_add_pytest_test(example_3_urdf_xacro test/test_urdf_xacro.py)
ament_add_pytest_test(view_example_3_launch test/test_view_robot_launch.py)
ament_add_pytest_test(run_example_3_launch test/test_rrbot_system_multi_interface_launch.py)

# Integration (launch) tests
find_package(ament_cmake_ros REQUIRED)
find_package(launch_testing_ament_cmake REQUIRED)
function(add_ros_isolated_launch_test path)
set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
endfunction()
add_ros_isolated_launch_test(test/test_view_robot_launch.py)
add_ros_isolated_launch_test(test/test_rrbot_system_multi_interface_launch.py)
endif()

## EXPORTS
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8 changes: 5 additions & 3 deletions example_3/package.xml
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Expand Up @@ -35,10 +35,12 @@
<exec_depend>xacro</exec_depend>

<test_depend>ament_cmake_pytest</test_depend>
<test_depend>controller_manager</test_depend>
<test_depend>launch_testing_ros</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>launch_testing_ament_cmake</test_depend>
<test_depend>launch_testing</test_depend>
<test_depend>launch</test_depend>
<test_depend>liburdfdom-tools</test_depend>
<test_depend>xacro</test_depend>
<test_depend>rclpy</test_depend>

<export>
<build_type>ament_cmake</build_type>
Expand Down
13 changes: 10 additions & 3 deletions example_4/CMakeLists.txt
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Expand Up @@ -64,10 +64,17 @@ install(TARGETS ros2_control_demo_example_4

if(BUILD_TESTING)
find_package(ament_cmake_pytest REQUIRED)

ament_add_pytest_test(example_4_urdf_xacro test/test_urdf_xacro.py)
ament_add_pytest_test(view_example_4_launch test/test_view_robot_launch.py)
ament_add_pytest_test(run_example_4_launch test/test_rrbot_system_with_sensor_launch.py)

# Integration (launch) tests
find_package(ament_cmake_ros REQUIRED)
find_package(launch_testing_ament_cmake REQUIRED)
function(add_ros_isolated_launch_test path)
set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
endfunction()
add_ros_isolated_launch_test(test/test_view_robot_launch.py)
add_ros_isolated_launch_test(test/test_rrbot_system_with_sensor_launch.py)
endif()

## EXPORTS
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8 changes: 5 additions & 3 deletions example_4/package.xml
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Expand Up @@ -34,10 +34,12 @@
<exec_depend>xacro</exec_depend>

<test_depend>ament_cmake_pytest</test_depend>
<test_depend>controller_manager</test_depend>
<test_depend>launch_testing_ros</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>launch_testing_ament_cmake</test_depend>
<test_depend>launch_testing</test_depend>
<test_depend>launch</test_depend>
<test_depend>liburdfdom-tools</test_depend>
<test_depend>xacro</test_depend>
<test_depend>rclpy</test_depend>

<export>
<build_type>ament_cmake</build_type>
Expand Down
13 changes: 10 additions & 3 deletions example_5/CMakeLists.txt
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Expand Up @@ -65,10 +65,17 @@ install(TARGETS ros2_control_demo_example_5

if(BUILD_TESTING)
find_package(ament_cmake_pytest REQUIRED)

ament_add_pytest_test(example_5_urdf_xacro test/test_urdf_xacro.py)
ament_add_pytest_test(view_example_5_launch test/test_view_robot_launch.py)
ament_add_pytest_test(run_example_5_launch test/test_rrbot_system_with_external_sensor_launch.py)

# Integration (launch) tests
find_package(ament_cmake_ros REQUIRED)
find_package(launch_testing_ament_cmake REQUIRED)
function(add_ros_isolated_launch_test path)
set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
endfunction()
add_ros_isolated_launch_test(test/test_view_robot_launch.py)
add_ros_isolated_launch_test(test/test_rrbot_system_with_external_sensor_launch.py)
endif()

## EXPORTS
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8 changes: 5 additions & 3 deletions example_5/package.xml
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Expand Up @@ -34,10 +34,12 @@
<exec_depend>xacro</exec_depend>

<test_depend>ament_cmake_pytest</test_depend>
<test_depend>controller_manager</test_depend>
<test_depend>launch_testing_ros</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>launch_testing_ament_cmake</test_depend>
<test_depend>launch_testing</test_depend>
<test_depend>launch</test_depend>
<test_depend>liburdfdom-tools</test_depend>
<test_depend>xacro</test_depend>
<test_depend>rclpy</test_depend>

<export>
<build_type>ament_cmake</build_type>
Expand Down
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