Add tests isolation in launch_testing_ros

launch_testing_ros/test/examples/check_msgs_launch_test.py

@@ -25,6 +25,7 @@
 import launch_testing.actions
 from launch_testing.io_handler import ActiveIoHandler
 import launch_testing.markers
+from launch_testing_ros.actions import EnableRmwIsolation
 import pytest
 import rclpy
 from std_msgs.msg import String
@@ -36,6 +37,7 @@ def generate_test_description():
     path_to_test = os.path.dirname(__file__)
 
     return launch.LaunchDescription([
+        EnableRmwIsolation(),
         launch_ros.actions.Node(
             executable=sys.executable,
             arguments=[os.path.join(path_to_test, 'talker.py')],

launch_testing_ros/test/examples/check_node_launch_test.py

@@ -23,6 +23,7 @@
 import launch_testing.actions
 from launch_testing.io_handler import ActiveIoHandler
 import launch_testing.markers
+from launch_testing_ros.actions import EnableRmwIsolation
 import pytest
 import rclpy
 
@@ -33,6 +34,7 @@ def generate_test_description():
     path_to_test = os.path.dirname(__file__)
 
     return launch.LaunchDescription([
+        EnableRmwIsolation(),
         launch.actions.TimerAction(
             period=5.0,
             actions=[

launch_testing_ros/test/examples/set_param_launch_test.py

@@ -22,6 +22,7 @@
 import launch_testing.actions
 from launch_testing.io_handler import ActiveIoHandler
 import launch_testing.markers
+from launch_testing_ros.actions import EnableRmwIsolation
 import pytest
 from rcl_interfaces.srv import SetParameters
 import rclpy
@@ -33,6 +34,7 @@ def generate_test_description():
     path_to_test = os.path.dirname(__file__)
 
     return launch.LaunchDescription([
+        EnableRmwIsolation(),
         launch_ros.actions.Node(
             executable=sys.executable,
             arguments=[os.path.join(path_to_test, 'parameter_blackboard.py')],

launch_testing_ros/test/examples/talker_listener_launch_test.py

@@ -22,9 +22,11 @@
 from launch.launch_service import LaunchService
 import launch_ros
 import launch_ros.actions
+
 import launch_testing.actions
 from launch_testing.io_handler import ActiveIoHandler
 import launch_testing_ros
+from launch_testing_ros.actions import EnableRmwIsolation
 
 import pytest
 
@@ -59,6 +61,7 @@ def generate_test_description():
 
     return (
         launch.LaunchDescription([
+            EnableRmwIsolation(),
             talker_node,
             listener_node,
             # Start tests right away - no need to wait for anything

launch_testing_ros/test/examples/wait_for_topic_inject_trigger_test.py

@@ -22,6 +22,7 @@
 import launch_testing.actions
 import launch_testing.markers
 from launch_testing_ros import WaitForTopics
+from launch_testing_ros.actions import EnableRmwIsolation
 import pytest
 from rclpy import qos
 from std_msgs.msg import String
@@ -55,7 +56,7 @@ def trigger_function(node):
 @pytest.mark.launch_test
 @launch_testing.markers.keep_alive
 def generate_test_description():
-    description = [generate_node(), launch_testing.actions.ReadyToTest()]
+    description = [EnableRmwIsolation(), generate_node(), launch_testing.actions.ReadyToTest()]
     return launch.LaunchDescription(description)
 
 

launch_testing_ros/test/examples/wait_for_topic_launch_test.py

@@ -23,6 +23,7 @@
 import launch_testing.actions
 import launch_testing.markers
 from launch_testing_ros import WaitForTopics
+from launch_testing_ros.actions import EnableRmwIsolation
 
 import pytest
 
@@ -47,7 +48,11 @@ def generate_node(i: int):
 def generate_test_description():
     # 'n' changes the number of nodes and topics generated for this test
     n = 5
-    description = [generate_node(i) for i in range(n)] + [launch_testing.actions.ReadyToTest()]
+    description = (
+        [EnableRmwIsolation()] +
+        [generate_node(i) for i in range(n)] +
+        [launch_testing.actions.ReadyToTest()]
+    )
     return launch.LaunchDescription(description), {'count': n}