fix(rcl_action): use RMW isolation for cross-node tests#1311
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test_action_communication, test_action_interaction, and test_graph all spawn two nodes in separate processes that must discover each other. These tests were using ZENOH_CONFIG_OVERRIDE=scouting/multicast/enabled=true as a workaround, but multicast is unreliable in CI environments (and unavailable on Windows), causing intermittent failures. Replace the multicast workaround with ament_add_ros_isolated_gtest_test, which wraps the test with run_test_isolated.py and rmw_test_isolation_start() to start an in-process router and configure all subprocesses to connect to it. This is the same mechanism already used by rcl/test/CMakeLists.txt for its own test_graph and other cross-node tests. Signed-off-by: yuanyuyuan <az6980522@gmail.com>
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fujitatomoya
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test_action_communication, test_action_interaction, and test_graph all spawn two nodes in separate processes that must discover each other. These tests were using ZENOH_CONFIG_OVERRIDE=scouting/multicast/enabled=true as a workaround, but multicast is unreliable in CI environments (and unavailable on Windows), causing intermittent failures. Replace the multicast workaround with ament_add_ros_isolated_gtest_test, which wraps the test with run_test_isolated.py and rmw_test_isolation_start() to start an in-process router and configure all subprocesses to connect to it. This is the same mechanism already used by rcl/test/CMakeLists.txt for its own test_graph and other cross-node tests. Signed-off-by: yuanyuyuan <az6980522@gmail.com> (cherry picked from commit 4d8f22a)
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Summary
test_action_communication,test_action_interaction, andtest_graphinrcl_actionall spawn two nodes in separate processes that must discover each other. These tests were usingZENOH_CONFIG_OVERRIDE=scouting/multicast/enabled=trueas a workaround for Zenoh's default non-multicast config, but multicast is unreliable in CI environments and unavailable on Windows, causingtest_graph__rmw_zenoh_cppto fail withrcl_action_get_server_names_and_types_by_nodereturningRCL_RET_ERROR.Key Changes
ament_add_gtest_test+ZENOH_CONFIG_OVERRIDE=scouting/multicast/enabled=truewithament_add_ros_isolated_gtest_testfor all three cross-node testsament_add_ros_isolated_gtest_testwraps the test withrun_test_isolated.py, which callsrmw_test_isolation_start()to start an in-process router and configure all processes to connect to it — no multicast requiredrcl/test/CMakeLists.txtfor its owntest_graphand other cross-node testsDeep Dive
rmw_test_isolation_start()(source) starts an in-process Zenoh router on a random port and writesZENOH_CONFIG_OVERRIDE=connect/endpoints=[tcp/127.0.0.1:<port>]into the environment (line 136–139). All processes that inherit the environment connect to this router and share the same discovery graph, making multicast unnecessary.Breaking Changes
None
Closes ros2/rmw_zenoh#932