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fix(test_ros2cli_daemon): add RMW isolation fixture for zenoh router #1216

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Merged
ahcorde merged 1 commit into from
Mar 27, 2026
+18 −0
Merged

fix(test_ros2cli_daemon): add RMW isolation fixture for zenoh router #1216

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1 change: 1 addition & 0 deletions ros2cli/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@
<exec_depend>rclpy</exec_depend>
<exec_depend>fzf</exec_depend>

<test_depend>rmw_test_fixture_implementation</test_depend>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
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17 changes: 17 additions & 0 deletions ros2cli/test/test_ros2cli_daemon.py
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,13 @@
from ros2cli.node.daemon import shutdown_daemon
from ros2cli.node.daemon import spawn_daemon

try:
from rmw_test_fixture_implementation import rmw_test_isolation_start
from rmw_test_fixture_implementation import rmw_test_isolation_stop
_HAS_RMW_ISOLATION = True
except ImportError:
_HAS_RMW_ISOLATION = False

import test_msgs.action
import test_msgs.msg
import test_msgs.srv
Expand Down Expand Up @@ -56,6 +63,16 @@
TEST_ACTION_TYPE = 'test_msgs/action/Fibonacci'


@pytest.fixture(autouse=True, scope='session')
def rmw_isolation():
"""Start RMW isolation before spawning the daemon."""
if _HAS_RMW_ISOLATION:
rmw_test_isolation_start()
yield
if _HAS_RMW_ISOLATION:
rmw_test_isolation_stop()


@pytest.fixture(autouse=True, scope='module')
def local_node():
with rclpy.init():
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