fix(test_cli_remapping): use EnableRmwIsolation for zenoh router#588
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test_cli_remapping uses add_launch_test without rmw isolation, so the test executables have no router to connect to when using rmw_zenoh_cpp. Add EnableRmwIsolation() as the first launch action so an in-process router is started before any nodes. Remove the os.environ snapshot (env=dict(os.environ)) and replace it with additional_env so that the ZENOH_CONFIG_OVERRIDE set by isolation is inherited by the processes. Signed-off-by: yuanyuyuan <az6980522@gmail.com>
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test_cli_remapping uses add_launch_test without rmw isolation, so the test executables have no router to connect to when using rmw_zenoh_cpp. Add EnableRmwIsolation() as the first launch action so an in-process router is started before any nodes. Remove the os.environ snapshot (env=dict(os.environ)) and replace it with additional_env so that the ZENOH_CONFIG_OVERRIDE set by isolation is inherited by the processes. Signed-off-by: yuanyuyuan <az6980522@gmail.com> (cherry picked from commit cc976b5)
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Summary
test_cli_remappingfails in theRci__nightly-zenoh_ubuntu_noble_amd64CI because its nodes cannot discover each other — the test usesadd_launch_testwithout RMW isolation, so there is no shared network for cross-process node discovery.Key Changes
EnableRmwIsolation()as the first launch action so the isolated network is set up before any subprocesses are spawnedenv=dict(os.environ)(snapshot taken before isolation runs) withadditional_env={'PYTHONUNBUFFERED': '1'}so each subprocess inherits the live environment at spawn time and joins the isolated networklaunch_testing_rosandrmw_test_fixture_implementationas test dependencies inpackage.xmlBreaking Changes
None
Deep Dive
EnableRmwIsolationcallsrmw_test_isolation_start(), which starts an in-process Zenoh router on a random port and then 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.The original code does
env=dict(os.environ)before the launch description executes, so the snapshot is taken beforeEnableRmwIsolation.execute()runs andZENOH_CONFIG_OVERRIDEis not yet set. The subprocesses receive a frozen copy of the environment that predates isolation and therefore never connect to the in-process router. Replacing it withadditional_envcauses the subprocess to inherit the liveos.environat the time it is actually spawned, after isolation has started.Closes ros2/rmw_zenoh#932