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Merged
ahcorde merged 3 commits into from
Sep 3, 2026
Merged

Enable RMW isolation for single process tests #983

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70928e7
Enable RMW isolation for test_message_filter
Yadunund Aug 31, 2026
51e6ee9
Isolate other gtest and pytests
Yadunund Aug 31, 2026
9553415
Drop ament_cmake_gtest dep in tf2_ros
Yadunund Sep 2, 2026
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7 changes: 4 additions & 3 deletions test_tf2/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@ endif()

if (BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
find_package(ament_cmake_ros REQUIRED)
find_package(ament_cmake_ros_core REQUIRED)
find_package(builtin_interfaces REQUIRED)
# Work around broken find module in AlmaLinux/RHEL eigen3-devel from PowerTools repo
Expand All @@ -34,7 +35,7 @@ if (BUILD_TESTING)

ament_find_gtest()

ament_add_gtest(buffer_core_test test/buffer_core_test.cpp)
ament_add_ros_isolated_gtest(buffer_core_test test/buffer_core_test.cpp)
if(TARGET buffer_core_test)
target_link_libraries(buffer_core_test
ament_cmake_ros_core::ament_ros_defaults
Expand All @@ -46,7 +47,7 @@ if (BUILD_TESTING)
tf2_ros::tf2_ros)
endif()

ament_add_gtest(test_message_filter test/test_message_filter.cpp)
ament_add_ros_isolated_gtest(test_message_filter test/test_message_filter.cpp)
if(TARGET test_message_filter)
target_link_libraries(test_message_filter
ament_cmake_ros_core::ament_ros_defaults
Expand Down Expand Up @@ -118,7 +119,7 @@ if (BUILD_TESTING)
add_launch_test(test/static_publisher.launch.py)
endif()

ament_add_gtest(test_tf2_bullet test/test_tf2_bullet.cpp)
ament_add_ros_isolated_gtest(test_tf2_bullet test/test_tf2_bullet.cpp)
if(TARGET test_tf2_bullet)
target_link_libraries(test_tf2_bullet
ament_cmake_ros_core::ament_ros_defaults
Expand Down
1 change: 1 addition & 0 deletions test_tf2/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@
<depend>tf2_ros</depend>

<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_cmake_ros_core</test_depend>
<test_depend>launch_ros</test_depend>
<test_depend>launch_testing_ament_cmake</test_depend>
Expand Down
22 changes: 11 additions & 11 deletions tf2_ros/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -146,17 +146,17 @@ if(BUILD_TESTING)
ament_lint_cmake()
ament_uncrustify(LANGUAGE "c++")

find_package(ament_cmake_gtest REQUIRED)
find_package(ament_cmake_ros REQUIRED)

ament_add_gtest(test_buffer test/test_buffer.cpp)
ament_add_ros_isolated_gtest(test_buffer test/test_buffer.cpp)
target_link_libraries(test_buffer
ament_cmake_ros_core::ament_ros_defaults
${PROJECT_NAME}
# Used, but not linked to test tf2_ros's exports:
# rclcpp::rclcpp
)

ament_add_gtest(test_buffer_server test/test_buffer_server.cpp)
ament_add_ros_isolated_gtest(test_buffer_server test/test_buffer_server.cpp)
target_link_libraries(test_buffer_server
ament_cmake_ros_core::ament_ros_defaults
${PROJECT_NAME}
Expand All @@ -166,7 +166,7 @@ if(BUILD_TESTING)
# tf2_msgs::tf2_msgs
)

ament_add_gtest(test_buffer_client test/test_buffer_client.cpp)
ament_add_ros_isolated_gtest(test_buffer_client test/test_buffer_client.cpp)
target_link_libraries(test_buffer_client
ament_cmake_ros_core::ament_ros_defaults
${PROJECT_NAME}
Expand All @@ -178,7 +178,7 @@ if(BUILD_TESTING)

# Adds a tf2_ros message_filter unittest that uses
# multiple target frames and a non-zero time tolerance
ament_add_gtest(${PROJECT_NAME}_test_message_filter test/message_filter_test.cpp)
ament_add_ros_isolated_gtest(${PROJECT_NAME}_test_message_filter test/message_filter_test.cpp)
target_link_libraries(${PROJECT_NAME}_test_message_filter
ament_cmake_ros_core::ament_ros_defaults
${PROJECT_NAME}
Expand All @@ -188,31 +188,31 @@ if(BUILD_TESTING)
# rclcpp::rclcpp
)

ament_add_gtest(${PROJECT_NAME}_test_transform_listener test/test_transform_listener.cpp)
ament_add_ros_isolated_gtest(${PROJECT_NAME}_test_transform_listener test/test_transform_listener.cpp)
target_link_libraries(${PROJECT_NAME}_test_transform_listener
ament_cmake_ros_core::ament_ros_defaults
${PROJECT_NAME}
# Used, but not linked to test tf2_ros's exports:
# rclcpp::rclcpp
)

ament_add_gtest(${PROJECT_NAME}_test_static_transform_broadcaster test/test_static_transform_broadcaster.cpp)
ament_add_ros_isolated_gtest(${PROJECT_NAME}_test_static_transform_broadcaster test/test_static_transform_broadcaster.cpp)
target_link_libraries(${PROJECT_NAME}_test_static_transform_broadcaster
ament_cmake_ros_core::ament_ros_defaults
${PROJECT_NAME}
# Used, but not linked to test tf2_ros's exports:
# rclcpp::rclcpp
)

ament_add_gtest(${PROJECT_NAME}_test_transform_broadcaster test/test_transform_broadcaster.cpp)
ament_add_ros_isolated_gtest(${PROJECT_NAME}_test_transform_broadcaster test/test_transform_broadcaster.cpp)
target_link_libraries(${PROJECT_NAME}_test_transform_broadcaster
ament_cmake_ros_core::ament_ros_defaults
${PROJECT_NAME}
# Used, but not linked to test tf2_ros's exports:
# rclcpp::rclcpp
)

ament_add_gtest(${PROJECT_NAME}_test_time_reset test/time_reset_test.cpp)
ament_add_ros_isolated_gtest(${PROJECT_NAME}_test_time_reset test/time_reset_test.cpp)
target_link_libraries(${PROJECT_NAME}_test_time_reset
ament_cmake_ros_core::ament_ros_defaults
${PROJECT_NAME}
Expand All @@ -222,7 +222,7 @@ if(BUILD_TESTING)
# rclcpp::rclcpp
)

ament_add_gtest(${PROJECT_NAME}_test_velocity test/velocity_test.cpp)
ament_add_ros_isolated_gtest(${PROJECT_NAME}_test_velocity test/velocity_test.cpp)
target_link_libraries(${PROJECT_NAME}_test_velocity
ament_cmake_ros_core::ament_ros_defaults
${PROJECT_NAME}
Expand All @@ -231,7 +231,7 @@ if(BUILD_TESTING)
# rclcpp::rclcpp
)

ament_add_gtest(${PROJECT_NAME}_test_listener test/listener_unittest.cpp)
ament_add_ros_isolated_gtest(${PROJECT_NAME}_test_listener test/listener_unittest.cpp)
target_link_libraries(${PROJECT_NAME}_test_listener
ament_cmake_ros_core::ament_ros_defaults
${PROJECT_NAME}
Expand Down
2 changes: 1 addition & 1 deletion tf2_ros/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@
<depend>tf2</depend>
<depend>tf2_msgs</depend>

<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>rosgraph_msgs</test_depend>
Expand Down
25 changes: 25 additions & 0 deletions tf2_ros_py/conftest.py
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Original file line number Diff line number Diff line change
@@ -0,0 +1,25 @@
# Copyright 2026 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

import pytest
from rmw_test_fixture_implementation import rmw_test_isolation_start
from rmw_test_fixture_implementation import rmw_test_isolation_stop


@pytest.fixture(autouse=True, scope='session')
def rmw_isolation():
"""Start RMW isolation before any ROS context is created."""
rmw_test_isolation_start()
yield
rmw_test_isolation_stop()
1 change: 1 addition & 0 deletions tf2_ros_py/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@
<test_depend>ament_pep257</test_depend>
<test_depend>ament_xmllint</test_depend>
<test_depend>python3-pytest</test_depend>
<test_depend>rmw_test_fixture_implementation</test_depend>

<export>
<build_type>ament_python</build_type>
Expand Down