Fujitatomoya/clearup isolated ros2daemon by fujitatomoya · Pull Request #1098 · ros2/ros2cli

fujitatomoya · 2025-09-04T13:21:24Z

Description

Fixes #1097

Possible fix for #1088, at least my local environment test results are all green and stable.

Is this user-facing behavior change?

No, only test cleanup process is fixed.

Did you use Generative AI?

No

Additional Information

This PR includes #1096

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

fujitatomoya · 2025-09-04T13:25:55Z

ros2action/test/test_cli.py

+                RegisterEventHandler(OnShutdown(on_shutdown=[
+                    # Stop daemon in isolated environment with proper ROS_DOMAIN_ID
+                    ExecuteProcess(
+                        cmd=['ros2', 'daemon', 'stop'],
+                        name='daemon-stop-isolated',
+                        # Use the same isolated environment
+                        additional_env=dict(additional_env),
+                    ),
+                    # This must be done after stopping the daemon in the isolated environment
+                    ResetEnvironment(),
+                ])),


This is the fix to avoid leaving the ros2 daemon processes with different ROS_DOMAIN_ID.
Right after the test, it makes sure clean up the ros2 daemon process in isolated environment, in this way we can only shut down the ros2 daemon instantiated by this isolated environment.
ros2 daemon stop above can stay there to stop the ros2 daemon with default ROS_DOMAIN_ID if that is online.

fujitatomoya · 2025-09-04T13:28:50Z

ros2doctor/test/test_report.py

-        # TODO(@fujitatomoya): rmw_zenoh_cpp is instable to find the endpoints, it does not
-        # matter if DaemonNode or DirectNode is used. For now, skip the test for rmw_zenoh_cpp.
-        if self.rmw_implementation == 'rmw_zenoh_cpp':
-            raise unittest.SkipTest()
-


This is another fix to support zenoh here. It now uses rmw isolated environment for the test, that will call rmw_zenoh specific setup for the isolation.

fujitatomoya · 2025-09-04T13:31:30Z

Pulls: #1098
Gist: https://gist.githubusercontent.com/fujitatomoya/eb78260e2f0cfbf35b13ff15cf65ed17/raw/b26f8d55728276d24e22769744150c82c4e491a8/ros2.repos
BUILD args: --packages-up-to ros2action ros2topic ros2node ros2param ros2service ros2lifecycle ros2doctor
TEST args: --packages-select ros2action ros2topic ros2node ros2param ros2service ros2lifecycle ros2doctor
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/16854

Linux
Linux-aarch64
Linux-rhel
Windows

mjcarroll · 2025-09-04T13:33:23Z

Possible fix for #1088, at least my local environment test results are all green and stable.

While I'm hopeful this fixes it, I'm all green on my local build as well :(

mjcarroll

LGTM, thanks for tackling this @fujitatomoya, I will let @cottsay also give it a look

fujitatomoya · 2025-09-04T13:37:17Z

While I'm hopeful this fixes it, I'm all green on my local build as well :(

maybe port assignment depending on the test environment...not so sure... 😓 fingers crossed 🤞

Copilot

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ahcorde

Thank you!

cottsay

Thanks for the PR. This is probably a good idea, and is well-implemented.

At large, this is even more evidence that we need a proper isolation mechanism for the daemon itself, but that's well outside the scope of this change.

fujitatomoya · 2025-09-04T14:53:59Z

all green, i will go ahead to merge this.

fujitatomoya · 2025-09-04T14:56:09Z

We don't need to backport this fix, EnableRmwIsolation is only available in rolling.

cottsay · 2025-09-04T15:08:15Z

We don't need to backport this fix, EnableRmwIsolation is only available in rolling.

I do plan to backport that stuff to Kilted when we stabilize the tests on Rolling.

* Enable RMW isolation for ros2doctor.test_report. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * ResetEnvironment on shutdown is missing. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * Clean up isolated ros2 daemon process when tests complete. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * Clean up isolated ros2 daemon process for ros2topic. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * Clean up isolated ros2 daemon process for ros2action. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * Clean up isolated ros2 daemon process for ros2doctor. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * Clean up isolated ros2 daemon process for ros2lifecycle and ros2node. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * Clean up isolated ros2 daemon process for ros2param. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> --------- Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

* Use rmw_test_fixture to isolate ros2cli tests (#1062) Signed-off-by: Scott K Logan <logans@cottsay.net> (cherry picked from commit 75e004a) * Fujitatomoya/clearup isolated ros2daemon (#1098) * Enable RMW isolation for ros2doctor.test_report. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * ResetEnvironment on shutdown is missing. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * Clean up isolated ros2 daemon process when tests complete. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * Clean up isolated ros2 daemon process for ros2topic. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * Clean up isolated ros2 daemon process for ros2action. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * Clean up isolated ros2 daemon process for ros2doctor. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * Clean up isolated ros2 daemon process for ros2lifecycle and ros2node. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * Clean up isolated ros2 daemon process for ros2param. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> --------- Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * Missing backport Signed-off-by: Jorge J. Perez <jjperez@ekumenlabs.com> * Fix extra backport Signed-off-by: Jorge J. Perez <jjperez@ekumenlabs.com> * Add missing import Signed-off-by: Jorge J. Perez <jjperez@ekumenlabs.com> --------- Signed-off-by: Scott K Logan <logans@cottsay.net> Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Signed-off-by: Jorge J. Perez <jjperez@ekumenlabs.com> Co-authored-by: Scott K Logan <logans@cottsay.net> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Co-authored-by: Jorge J. Perez <jjperez@ekumenlabs.com>

fujitatomoya added 8 commits September 4, 2025 17:07

Enable RMW isolation for ros2doctor.test_report.

022fe15

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

ResetEnvironment on shutdown is missing.

3247d58

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

Clean up isolated ros2 daemon process when tests complete.

d9a3a50

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

Clean up isolated ros2 daemon process for ros2topic.

f1ea754

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

Clean up isolated ros2 daemon process for ros2action.

b325b62

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

Clean up isolated ros2 daemon process for ros2doctor.

5e77650

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

Clean up isolated ros2 daemon process for ros2lifecycle and ros2node.

40f5645

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

Clean up isolated ros2 daemon process for ros2param.

f63ddcb

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

fujitatomoya requested review from ahcorde, christophebedard and cottsay September 4, 2025 13:21

fujitatomoya self-assigned this Sep 4, 2025

fujitatomoya added the bug Something isn't working label Sep 4, 2025

fujitatomoya mentioned this pull request Sep 4, 2025

Enable RMW isolation for ros2doctor.test_report. #1096

Closed

fujitatomoya commented Sep 4, 2025

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fujitatomoya requested a review from Copilot September 4, 2025 13:29

mjcarroll approved these changes Sep 4, 2025

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Copilot AI reviewed Sep 4, 2025

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ahcorde approved these changes Sep 4, 2025

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cottsay approved these changes Sep 4, 2025

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fujitatomoya merged commit f350134 into rolling Sep 4, 2025
2 of 3 checks passed

fujitatomoya mentioned this pull request Sep 4, 2025

ros2doctor.test.test_qos_compatibility.{test_check,test_report} are flaky #1088

Closed

christophebedard deleted the fujitatomoya/clearup-isolated-ros2daemon branch September 4, 2025 20:12

fujitatomoya mentioned this pull request Sep 25, 2025

🧑‍🌾 ros2service.ros2service.test.test_cli.test_cli failing consistently in Kilted #1073

Closed

fujitatomoya mentioned this pull request Sep 28, 2025

Use rmw_test_fixture to isolate ros2cli tests (backport #1062) #1106

Merged

fujitatomoya mentioned this pull request Jan 5, 2026

Clean up isolated ros2 daemon process for tests. ros2/sros2#375

Merged

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Fujitatomoya/clearup isolated ros2daemon#1098

Fujitatomoya/clearup isolated ros2daemon#1098
fujitatomoya merged 8 commits intorollingfrom
fujitatomoya/clearup-isolated-ros2daemon

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fujitatomoya commented Sep 4, 2025

Description

Is this user-facing behavior change?

Did you use Generative AI?

Additional Information

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fujitatomoya commented Sep 4, 2025

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