Shutdown the context before context's destructor is invoked in tests (#2633)

* zenoh: Shutdown the node properly in component tests

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

* Call rclcpp::shutdown when tearing down tests in rclcpp

Signed-off-by: Yadunund <[email protected]>

* Call rclcpp::shutdown when tearing down tests in rclcpp_lifecycle

Signed-off-by: Yadunund <[email protected]>

* Ensure context is initialized for all tests in test_publisher

Signed-off-by: Yadunund <[email protected]>

* Added feedback

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

* make linters happy

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

---------

Signed-off-by: Alejandro Hernández Cordero <[email protected]>
Signed-off-by: Yadunund <[email protected]>
Co-authored-by: Yadunund <[email protected]>

Author: ahcorde

rclcpp/test/rclcpp/executors/test_multi_threaded_executor.cpp

@@ -32,6 +32,11 @@ class TestMultiThreadedExecutor : public ::testing::Test
   {
     rclcpp::init(0, nullptr);
   }
+
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
 };
 
 constexpr std::chrono::milliseconds PERIOD_MS = 1000ms;

rclcpp/test/rclcpp/node_interfaces/test_get_node_interfaces.cpp

@@ -38,6 +38,7 @@ class TestGetNodeInterfaces : public ::testing::Test
   {
     node.reset();
     wrapped_node.reset();
+    rclcpp::shutdown();
   }
 
   static rclcpp::Node::SharedPtr node;

rclcpp/test/rclcpp/node_interfaces/test_node_graph.cpp

@@ -47,9 +47,13 @@ constexpr char absolute_namespace[] = "/ns";
 class TestNodeGraph : public ::testing::Test
 {
 public:
-  void SetUp()
+  static void SetUpTestCase()
   {
     rclcpp::init(0, nullptr);
+  }
+
+  void SetUp()
+  {
     node_ = std::make_shared<rclcpp::Node>(node_name, node_namespace);
 
     // This dynamic cast is not necessary for the unittests, but instead is used to ensure
@@ -59,7 +63,7 @@ class TestNodeGraph : public ::testing::Test
     ASSERT_NE(nullptr, node_graph_);
   }
 
-  void TearDown()
+  static void TearDownTestCase()
   {
     rclcpp::shutdown();
   }

rclcpp/test/rclcpp/test_externally_defined_services.cpp

@@ -34,6 +34,11 @@ class TestExternallyDefinedServices : public ::testing::Test
   {
     rclcpp::init(0, nullptr);
   }
+
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
 };
 
 void

rclcpp/test/rclcpp/test_find_weak_nodes.cpp

@@ -27,6 +27,11 @@ class TestFindWeakNodes : public ::testing::Test
   {
     rclcpp::init(0, nullptr);
   }
+
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
 };
 
 TEST_F(TestFindWeakNodes, allocator_strategy_with_weak_nodes) {

rclcpp/test/rclcpp/test_guard_condition.cpp

@@ -27,6 +27,11 @@ class TestGuardCondition : public ::testing::Test
   {
     rclcpp::init(0, nullptr);
   }
+
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
 };
 
 /*

rclcpp/test/rclcpp/test_node_global_args.cpp

@@ -32,6 +32,11 @@ class TestNodeWithGlobalArgs : public ::testing::Test
     const int argc = sizeof(args) / sizeof(const char *);
     rclcpp::init(argc, args);
   }
+
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
 };
 
 TEST_F(TestNodeWithGlobalArgs, local_arguments_before_global) {

rclcpp/test/rclcpp/test_parameter.cpp

@@ -31,6 +31,11 @@ class TestParameter : public ::testing::Test
   {
     rclcpp::init(0, nullptr);
   }
+
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
 };
 
 TEST_F(TestParameter, construct_destruct) {

rclcpp/test/rclcpp/test_parameter_client.cpp

@@ -60,6 +60,11 @@ class TestParameterClient : public ::testing::Test
     node_with_option.reset();
   }
 
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
+
   // "start_type_description_service" and "use_sim_time"
   const uint64_t builtin_param_count = 2;
   rclcpp::Node::SharedPtr node;

rclcpp/test/rclcpp/test_parameter_event_handler.cpp

@@ -107,6 +107,11 @@ class TestNode : public ::testing::Test
     param_handler.reset();
   }
 
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
+
   rcl_interfaces::msg::ParameterEvent::SharedPtr same_node_int;
   rcl_interfaces::msg::ParameterEvent::SharedPtr same_node_double;
   rcl_interfaces::msg::ParameterEvent::SharedPtr diff_node_int;

rclcpp/test/rclcpp/test_publisher.cpp

@@ -38,9 +38,7 @@ class TestPublisher : public ::testing::Test
 public:
   static void SetUpTestCase()
   {
-    if (!rclcpp::ok()) {
-      rclcpp::init(0, nullptr);
-    }
+    rclcpp::init(0, nullptr);
   }
 
 protected:
@@ -54,6 +52,11 @@ class TestPublisher : public ::testing::Test
     node.reset();
   }
 
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
+
   rclcpp::Node::SharedPtr node;
 };
 
@@ -81,6 +84,7 @@ class TestPublisherSub : public ::testing::Test
 protected:
   static void SetUpTestCase()
   {
+    rclcpp::init(0, nullptr);
   }
 
   void SetUp()
@@ -94,6 +98,11 @@ class TestPublisherSub : public ::testing::Test
     node.reset();
   }
 
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
+
   rclcpp::Node::SharedPtr node;
   rclcpp::Node::SharedPtr subnode;
 };

rclcpp/test/rclcpp/test_qos_event.cpp

@@ -52,6 +52,11 @@ class TestQosEvent : public ::testing::Test
     node.reset();
   }
 
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
+
   static constexpr char topic_name[] = "test_topic";
   rclcpp::Node::SharedPtr node;
   std::function<void(test_msgs::msg::Empty::ConstSharedPtr)> message_callback;

rclcpp/test/rclcpp/test_subscription_options.cpp

@@ -51,6 +51,11 @@ class TestSubscriptionOptions : public ::testing::Test
     node.reset();
   }
 
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
+
   rclcpp::Node::SharedPtr node;
 };
 

rclcpp/test/rclcpp/test_wait_set.cpp

@@ -31,6 +31,11 @@ class TestWaitSet : public ::testing::Test
   {
     rclcpp::init(0, nullptr);
   }
+
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
 };
 
 /*

rclcpp_components/test/test_component_manager.cpp

@@ -28,6 +28,11 @@ class TestComponentManager : public ::testing::Test
   {
     rclcpp::init(0, nullptr);
   }
+
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
 };
 
 TEST_F(TestComponentManager, get_component_resources_invalid)

rclcpp_components/test/test_component_manager_api.cpp

@@ -33,6 +33,11 @@ class TestComponentManager : public ::testing::Test
   {
     rclcpp::init(0, nullptr);
   }
+
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
 };
 
 // TODO(hidmic): split up tests once Node bring up/tear down races

rclcpp_lifecycle/test/test_callback_exceptions.cpp

@@ -34,6 +34,11 @@ class TestCallbackExceptions : public ::testing::Test
   {
     rclcpp::init(0, nullptr);
   }
+
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
 };
 
 class PositiveCallbackExceptionNode : public rclcpp_lifecycle::LifecycleNode

rclcpp_lifecycle/test/test_register_custom_callbacks.cpp

@@ -34,6 +34,11 @@ class TestRegisterCustomCallbacks : public ::testing::Test
   {
     rclcpp::init(0, nullptr);
   }
+
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
 };
 
 class CustomLifecycleNode : public rclcpp_lifecycle::LifecycleNode

rclcpp_lifecycle/test/test_state_machine_info.cpp

@@ -34,6 +34,11 @@ class TestStateMachineInfo : public ::testing::Test
   {
     rclcpp::init(0, nullptr);
   }
+
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
 };
 
 TEST_F(TestStateMachineInfo, available_states) {