fix(test_ros2cli_daemon): add RMW isolation fixture for zenoh router#1216
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ahcorde merged 1 commit intoros2:rollingfrom Mar 27, 2026
Merged
fix(test_ros2cli_daemon): add RMW isolation fixture for zenoh router#1216ahcorde merged 1 commit intoros2:rollingfrom
ahcorde merged 1 commit intoros2:rollingfrom
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test_ros2cli_daemon.py spawns a daemon subprocess with no explicit env=, so the daemon inherits os.environ. When running with rmw_zenoh_cpp, the daemon and the test node cannot discover each other without a router. Add an autouse session fixture that calls rmw_test_isolation_start() when available; this starts an in-process router and sets ZENOH_CONFIG_OVERRIDE so the daemon inherits the connection endpoint. Signed-off-by: yuanyuyuan <az6980522@gmail.com>
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ahcorde
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Mar 26, 2026
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Pulls: #1216
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fujitatomoya
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Mar 27, 2026
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Summary
test_ros2cli_daemonfails in theRci__nightly-zenoh_ubuntu_noble_amd64CI because the ROS 2 CLI daemon and the test node cannot discover each other — no isolated network is set up for the test, so cross-process node discovery fails.Key Changes
autousesession-scoped fixturermw_isolationthat callsrmw_test_isolation_start()/rmw_test_isolation_stop()around the entire test session, beforespawn_daemon()is calledtry/except ImportErrorso the fixture is a no-op on non-Zenoh RMW implementations where the package is absentrmw_test_fixture_implementationas a test dependency inpackage.xmlBreaking Changes
None
Deep Dive
rmw_test_isolation_start()starts an in-process Zenoh router on a random port and setsZENOH_CONFIG_OVERRIDE=connect/endpoints=[tcp/127.0.0.1:<port>]in the current process environment (line 136–139). Any subprocess that inheritsos.environwill have rmw_zenoh_cpp connect to that router and share the same discovery graph.spawn_daemon()callssubprocess.Popen()with no explicitenv=, so the daemon naturally inheritsos.environ. Starting isolation beforespawn_daemon()is therefore sufficient — the daemon picks up the router endpoint from the environment and connects to the same network as the test node.Closes ros2/rmw_zenoh#932