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Enable RMW isolation for ros2doctor.test_report. #1096

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Enable RMW isolation for ros2doctor.test_report. #1096

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022fe15
Enable RMW isolation for ros2doctor.test_report.
fujitatomoya Sep 4, 2025
3247d58
ResetEnvironment on shutdown is missing.
fujitatomoya Sep 4, 2025
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19 changes: 9 additions & 10 deletions ros2doctor/test/test_report.py
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,10 @@
from launch import LaunchDescription
from launch import LaunchService
from launch.actions import ExecuteProcess
from launch.actions import RegisterEventHandler
from launch.actions import ResetEnvironment
from launch.actions import SetEnvironmentVariable
from launch.event_handlers import OnShutdown

from launch_ros.actions import Node

Expand All @@ -32,6 +36,7 @@
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 @@ -55,21 +60,23 @@ def generate_test_description(rmw_implementation: str) -> Tuple[LaunchDescriptio
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()]

return LaunchDescription([
ExecuteProcess(
cmd=['ros2', 'daemon', 'stop'],
name='daemon-stop',
on_exit=[
RegisterEventHandler(OnShutdown(on_shutdown=ResetEnvironment())),
*set_env_actions,
EnableRmwIsolation(),
ExecuteProcess(
cmd=['ros2', 'daemon', 'start'],
name='daemon-start',
additional_env=additional_env,
on_exit=[
Node(
executable=sys.executable,
arguments=[os.path.join(path_to_fixtures, 'report_node.py')],
additional_env=additional_env
),
launch_testing.actions.ReadyToTest()
]
Expand Down Expand Up @@ -100,11 +107,8 @@ def launch_doctor_command(
self,
arguments
) -> Generator[launch_testing.tools.process.ProcessProxy, None, None]:
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 All @@ -130,11 +134,6 @@ def test_check(self) -> None:

@launch_testing.markers.retry_on_failure(times=5, delay=1)
def test_report(self) -> None:
# TODO(@fujitatomoya): rmw_zenoh_cpp is instable to find the endpoints, it does not
# matter if DaemonNode or DirectNode is used. For now, skip the test for rmw_zenoh_cpp.
if self.rmw_implementation == 'rmw_zenoh_cpp':
raise unittest.SkipTest()

for argument in ['-r', '--report']:
with self.launch_doctor_command(
arguments=[argument]
Expand Down