Fixing libdeep_conversions linking error in CI

Author: lucasreljic

.github/actions/build-and-test/action.yml

@@ -31,10 +31,16 @@ runs:
         source /opt/ros/${{ inputs.ros-distro }}/setup.bash
         IS_CI=1 colcon build --merge-install
 
+    - name: 🔗 Set library path
+      shell: bash
+      run: |
+        echo "LD_LIBRARY_PATH=$(pwd)/build/install/lib:$(pwd)/build/install/deep_test/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV
+
     - name: ✅ Run tests
       shell: bash
       run: |
         source /opt/ros/${{ inputs.ros-distro }}/setup.bash
+        source build/install/setup.bash
         IS_CI=1 colcon test --merge-install --event-handlers console_cohesion+
         colcon test-result --verbose
 

deep_test/src/test_executor_fixture.cpp

@@ -14,19 +14,38 @@
 
 #include "test_fixtures/test_executor_fixture.hpp"
 
+#include <atomic>
+#include <mutex>
+
 #include <lifecycle_msgs/msg/state.hpp>
 
 namespace deep_ros::test
 {
 
+// Static members for safe one-time initialization
+static std::mutex ros_init_mutex;
+static std::atomic<int> ros_init_count{0};
+static std::atomic<bool> ros_initialized{false};
+
 ROS2Initializer::ROS2Initializer()
 {
-  rclcpp::init(0, nullptr);
+  std::lock_guard<std::mutex> lock(ros_init_mutex);
+  if (!ros_initialized.load()) {
+    rclcpp::init(0, nullptr);
+    ros_initialized.store(true);
+  }
+  ros_init_count++;
 }
 
 ROS2Initializer::~ROS2Initializer()
 {
-  rclcpp::shutdown();
+  std::lock_guard<std::mutex> lock(ros_init_mutex);
+  ros_init_count--;
+  // Only shutdown when the last instance is destroyed
+  if (ros_init_count.load() == 0 && ros_initialized.load()) {
+    rclcpp::shutdown();
+    ros_initialized.store(false);
+  }
 }
 
 TestExecutorFixture::TestExecutorFixture()

deep_test/test/test_with_ros.cpp

@@ -12,8 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <dlfcn.h>
-
 #include <chrono>
 #include <future>
 #include <memory>
@@ -32,23 +30,8 @@
 namespace deep_ros
 {
 
-/**
- * @brief Check if GPU/CUDA is available
- */
-static bool is_gpu_available()
-{
-  return dlopen("libcuda.so.1", RTLD_LAZY | RTLD_NOLOAD) != nullptr;
-}
-
 TEST_CASE_METHOD(deep_ros::test::TestExecutorFixture, "Multiple nodes with TestExecutorFixture", "[multi_node]")
 {
-  // Skip this test in CPU-only environments
-  // The segfault occurs during ROS2 initialization when running in a CPU-only container
-  if (!is_gpu_available()) {
-    WARN("GPU/CUDA not available - skipping ROS integration test");
-    return;
-  }
-
   std::string test_topic = "/multi_node_topic";
 
   // Create publisher and subscriber test nodes