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Add tests isolation for rmw_zenoh #1291

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98f786f
Add tests isolation in rcl_action
JEnoch Feb 10, 2026
6f521e6
test_rmw_impl_id_check: in case of rmw_zenoh_cpp don't connect to Zen…
JEnoch Feb 16, 2026
da7b16c
Update rcl/test/rcl/test_rmw_impl_id_check.py.in
JEnoch Feb 17, 2026
3f63083
Update rcl/test/rcl/test_rmw_impl_id_check.py.in
JEnoch Feb 17, 2026
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7 changes: 7 additions & 0 deletions rcl/test/rcl/test_rmw_impl_id_check.py.in
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,13 @@ def generate_test_description(
if rcl_assert_rmw_id_matches_env is not None:
env['RCL_ASSERT_RMW_ID_MATCHES'] = rcl_assert_rmw_id_matches_env

if rmw_implementation_env == 'rmw_zenoh_cpp':
# Since the test is purely local (checks on loaded rmw_implementation lib),
# avoid connection to a Zenoh router in case rmw_zenoh_cpp is loaded.
# This avoids unnecessary warning logs and saves time at rmw_init()
env['ZENOH_CONFIG_OVERRIDE'] = 'connect/endpoints=[]'
env['ZENOH_ROUTER_CHECK_ATTEMPTS'] = '-1'

executable_under_test = ExecuteProcess(
cmd=['@TEST_RMW_IMPL_ID_CHECK_EXECUTABLE_NAME@'],
name='@TEST_RMW_IMPL_ID_CHECK_EXECUTABLE_NAME@',
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16 changes: 4 additions & 12 deletions rcl_action/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -77,7 +77,7 @@ install(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}
)

if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
find_package(ament_cmake_ros REQUIRED)
find_package(ament_lint_auto REQUIRED)
find_package(osrf_testing_tools_cpp REQUIRED)
find_package(test_msgs REQUIRED)
Expand Down Expand Up @@ -136,25 +136,17 @@ if(BUILD_TESTING)
message(STATUS "Creating tests for '${rmw_implementation}'")
set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})

# If the rmw_implementation is rmw_zenoh_cpp, run the tests with multicast discovery enabled.
# Note: This is a temporary change that will be reverted before we branch into Kilted.
if(rmw_implementation STREQUAL "rmw_zenoh_cpp")
list(APPEND rmw_implementation_env_var
ZENOH_CONFIG_OVERRIDE=scouting/multicast/enabled=true
)
endif()

ament_add_gtest_test(test_action_communication
ament_add_ros_isolated_gtest_test(test_action_communication
TEST_NAME test_action_communication${target_suffix}
ENV ${rmw_implementation_env_var}
)

ament_add_gtest_test(test_action_interaction
ament_add_ros_isolated_gtest_test(test_action_interaction
TEST_NAME test_action_interaction${target_suffix}
ENV ${rmw_implementation_env_var}
)

ament_add_gtest_test(test_graph
ament_add_ros_isolated_gtest_test(test_graph
TEST_NAME test_graph${target_suffix}
ENV ${rmw_implementation_env_var}
TIMEOUT 180
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2 changes: 1 addition & 1 deletion rcl_action/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@
<depend>rmw</depend>
<depend>rosidl_runtime_c</depend>

<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>osrf_testing_tools_cpp</test_depend>
Expand Down