test: refactor connector shutdown logic in two test cases

Author: maciejmajek

tests/rai_perception/agents/test_base_vision_agent.py

@@ -316,9 +316,10 @@ def test_stop(self, tmp_path):
         agent = MockBaseVisionAgent(weights_root_path=str(tmp_path), ros2_name="test")
         agent.weights_path = weights_path
 
-        with patch.object(agent.ros2_connector, "shutdown") as mock_shutdown:
+        with patch.object(
+            agent.ros2_connector,
+            "shutdown",
+            wraps=agent.ros2_connector.shutdown,
+        ) as mock_shutdown:
             agent.stop()
             mock_shutdown.assert_called_once()
-
-        if rclpy.ok():
-            rclpy.shutdown()

tests/rai_perception/tools/test_pcl_detection_tools.py

@@ -182,6 +182,7 @@ def slow_operation(obj_name):
 
 def test_get_object_gripping_points_tool_auto_declaration():
     """Test that GetObjectGrippingPointsTool auto-declares parameters with defaults."""
+    connector = None
     rclpy.init()
     try:
         connector = ROS2Connector(executor_type="single_threaded")
@@ -275,7 +276,10 @@ def test_get_object_gripping_points_tool_auto_declaration():
         assert "segmentation_service_name" in config
 
     finally:
-        rclpy.shutdown()
+        if connector is not None:
+            connector.shutdown()
+        if rclpy.ok():
+            rclpy.shutdown()
 
 
 def test_get_object_positions_tool_wrapper():