From acf72384d900714cd4ab50d75f9c8cb7f8a3c088 Mon Sep 17 00:00:00 2001
From: Julien Enoch <julien.e@zettascale.tech>
Date: Wed, 25 Feb 2026 00:13:27 +0100
Subject: [PATCH] test_rmw_implementation: add test isolation (#275)

* test_rmw_implementation: add test isolation

Signed-off-by: Julien Enoch <julien.e@zettascale.tech>

* add missing test_depend on ament_cmake_ros

Signed-off-by: Julien Enoch <julien.e@zettascale.tech>

* Fix find_package(ament_cmake_ros) place

Signed-off-by: Julien Enoch <julien.e@zettascale.tech>

---------

Signed-off-by: Julien Enoch <julien.e@zettascale.tech>
(cherry picked from commit 68c340d14eeb6057d4b8d07c341e9c49e1f583fe)
---
 test_rmw_implementation/CMakeLists.txt | 33 +++++++++++++-------------
 test_rmw_implementation/package.xml    |  2 +-
 2 files changed, 18 insertions(+), 17 deletions(-)

diff --git a/test_rmw_implementation/CMakeLists.txt b/test_rmw_implementation/CMakeLists.txt
index c565ceb4..9c2cacd8 100644
--- a/test_rmw_implementation/CMakeLists.txt
+++ b/test_rmw_implementation/CMakeLists.txt
@@ -15,6 +15,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 
 if(BUILD_TESTING)
+  find_package(ament_cmake_ros REQUIRED)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(osrf_testing_tools_cpp REQUIRED)
 
@@ -199,100 +200,100 @@ if(BUILD_TESTING)
     message(STATUS "Creating API tests for '${rmw_implementation}'")
     set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
 
-    ament_add_gtest_test(test_init_shutdown
+    ament_add_ros_isolated_gtest_test(test_init_shutdown
       TEST_NAME test_init_shutdown${target_suffix}
       ENV
         ${rmw_implementation_env_var}
     )
 
-    ament_add_gtest_test(test_init_options
+    ament_add_ros_isolated_gtest_test(test_init_options
       TEST_NAME test_init_options${target_suffix}
       ENV
         ${rmw_implementation_env_var}
     )
 
-    ament_add_gtest_test(test_create_destroy_node
+    ament_add_ros_isolated_gtest_test(test_create_destroy_node
       TEST_NAME test_create_destroy_node${target_suffix}
       ENV
         ${rmw_implementation_env_var}
     )
 
-    ament_add_gtest_test(test_publisher
+    ament_add_ros_isolated_gtest_test(test_publisher
       TEST_NAME test_publisher${target_suffix}
       ENV
         ${rmw_implementation_env_var}
     )
 
-    ament_add_gtest_test(test_subscription
+    ament_add_ros_isolated_gtest_test(test_subscription
       TEST_NAME test_subscription${target_suffix}
       TIMEOUT 120
       ENV
         ${rmw_implementation_env_var}
     )
 
-    ament_add_gtest_test(test_serialize_deserialize
+    ament_add_ros_isolated_gtest_test(test_serialize_deserialize
       TEST_NAME test_serialize_deserialize${target_suffix}
       ENV
         ${rmw_implementation_env_var}
     )
 
-    ament_add_gtest_test(test_publisher_allocator
+    ament_add_ros_isolated_gtest_test(test_publisher_allocator
       TEST_NAME test_publisher_allocator${target_suffix}
       ENV
         ${rmw_implementation_env_var}
     )
 
-    ament_add_gtest_test(test_subscription_allocator
+    ament_add_ros_isolated_gtest_test(test_subscription_allocator
       TEST_NAME test_subscription_allocator${target_suffix}
       ENV
         ${rmw_implementation_env_var}
     )
 
-    ament_add_gtest_test(test_wait_set
+    ament_add_ros_isolated_gtest_test(test_wait_set
       TEST_NAME test_wait_set${target_suffix}
       ENV
         ${rmw_implementation_env_var}
     )
 
-    ament_add_gtest_test(test_graph_api
+    ament_add_ros_isolated_gtest_test(test_graph_api
       TEST_NAME test_graph_api${target_suffix}
       TIMEOUT 120
       ENV
         ${rmw_implementation_env_var}
     )
 
-    ament_add_gtest_test(test_unique_identifiers
+    ament_add_ros_isolated_gtest_test(test_unique_identifiers
       TEST_NAME test_unique_identifiers${target_suffix}
       ENV
         ${rmw_implementation_env_var}
     )
 
-    ament_add_gtest_test(test_service
+    ament_add_ros_isolated_gtest_test(test_service
       TEST_NAME test_service${target_suffix}
       ENV
         ${rmw_implementation_env_var}
     )
 
-    ament_add_gtest_test(test_client
+    ament_add_ros_isolated_gtest_test(test_client
       TEST_NAME test_client${target_suffix}
       TIMEOUT 120
       ENV
         ${rmw_implementation_env_var}
     )
 
-    ament_add_gtest_test(test_qos_profile_check_compatible
+    ament_add_ros_isolated_gtest_test(test_qos_profile_check_compatible
       TEST_NAME test_qos_profile_check_compatible${target_suffix}
       ENV
         ${rmw_implementation_env_var}
     )
 
-    ament_add_gtest_test(test_duration_infinite
+    ament_add_ros_isolated_gtest_test(test_duration_infinite
       TEST_NAME test_duration_infinite${target_suffix}
       ENV
         ${rmw_implementation_env_var}
     )
 
-    ament_add_gtest_test(test_event
+    ament_add_ros_isolated_gtest_test(test_event
       TEST_NAME test_event${target_suffix}
       ENV
         ${rmw_implementation_env_var}
diff --git a/test_rmw_implementation/package.xml b/test_rmw_implementation/package.xml
index 22440b2b..fe208b1c 100644
--- a/test_rmw_implementation/package.xml
+++ b/test_rmw_implementation/package.xml
@@ -14,7 +14,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>osrf_testing_tools_cpp</test_depend>