fix(test_ros2cli_daemon): add RMW isolation fixture for zenoh router (#1216)

test_ros2cli_daemon.py spawns a daemon subprocess with no explicit env=,
so the daemon inherits os.environ.  When running with rmw_zenoh_cpp, the
daemon and the test node cannot discover each other without a router.

Add an autouse session fixture that calls rmw_test_isolation_start() when
available; this starts an in-process router and sets ZENOH_CONFIG_OVERRIDE
so the daemon inherits the connection endpoint.

Signed-off-by: yuanyuyuan <az6980522@gmail.com>

Author: YuanYuYuan

ros2cli/package.xml

@@ -23,6 +23,7 @@
   <exec_depend>rclpy</exec_depend>
   <exec_depend>fzf</exec_depend>
 
+  <test_depend>rmw_test_fixture_implementation</test_depend>
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>

ros2cli/test/test_ros2cli_daemon.py

@@ -27,6 +27,13 @@
 from ros2cli.node.daemon import shutdown_daemon
 from ros2cli.node.daemon import spawn_daemon
 
+try:
+    from rmw_test_fixture_implementation import rmw_test_isolation_start
+    from rmw_test_fixture_implementation import rmw_test_isolation_stop
+    _HAS_RMW_ISOLATION = True
+except ImportError:
+    _HAS_RMW_ISOLATION = False
+
 import test_msgs.action
 import test_msgs.msg
 import test_msgs.srv
@@ -56,6 +63,16 @@
 TEST_ACTION_TYPE = 'test_msgs/action/Fibonacci'
 
 
+@pytest.fixture(autouse=True, scope='session')
+def rmw_isolation():
+    """Start RMW isolation before spawning the daemon."""
+    if _HAS_RMW_ISOLATION:
+        rmw_test_isolation_start()
+    yield
+    if _HAS_RMW_ISOLATION:
+        rmw_test_isolation_stop()
+
+
 @pytest.fixture(autouse=True, scope='module')
 def local_node():
     with rclpy.init():