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Run test_tracetools tests against rmw_zenoh_cpp

Open christophebedard opened this issue 1 year ago • 3 comments

Requires https://github.com/ros2/rmw_zenoh/pull/294

This is a draft, because it requires having the Zenoh router running:

$ ros2 run rmw_zenoh_cpp rmw_zenohd

Also, this probably should not be merged before rmw_zenoh_cpp officially becomes a tier 1 rmw implementation and gets included in the ROS 2 core (and ros2.repos), although the rmw_zenoh_cpp will just be skipped if it's not found.

action-ros-ci-repos-supplemental: https://gist.githubusercontent.com/christophebedard/f6d9a7622553946589d6a22d00f41763/raw/7a5b0ee8a55511bf3adaa6cb8dfba10637d69d0c/zenoh.repos

christophebedard avatar Oct 10 '24 00:10 christophebedard

CI is gonna be responsible for this, right? unless, rmw_zenoh_cpp cannot run the CI or any tests? I do not really know what the plan here though...

Yeah, we are going to have to figure out how to ensure that the router is running (both for ci.ros2.org and the Rpr jobs) so that the rmw_zenoh_cpp tests can run and pass.

clalancette avatar Oct 10 '24 13:10 clalancette

In this case, I can easily launch zenohd before launching the nodes that get traced (e.g., in tracetools_test's TraceTestCase), but yeah we need a universal solution.

christophebedard avatar Oct 10 '24 15:10 christophebedard

Relevant rmw_zenoh issue: https://github.com/ros2/rmw_zenoh/issues/391

christophebedard avatar Jan 06 '25 20:01 christophebedard

@cottsay FYI. I rebased this after merging #159.

christophebedard avatar Apr 14 '25 21:04 christophebedard

CI using https://github.com/colcon/colcon-ros-domain-id-coordinator/pull/8:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

christophebedard avatar Apr 14 '25 23:04 christophebedard

Alright, since https://github.com/colcon/colcon-ros-domain-id-coordinator/pull/8 has been released as 0.2.3, and since it's now available from the apt repo (https://github.com/ros-infrastructure/reprepro-updater/pull/232#issuecomment-2803574297), this is good to go.

christophebedard avatar Apr 15 '25 02:04 christophebedard

Alright, since colcon/colcon-ros-domain-id-coordinator#8 has been released as 0.2.3, and since it's now available from the apt repo (ros-infrastructure/reprepro-updater#232 (comment)), this is good to go.

I admit that I didn't consider RHEL: these tracing tests get run on RHEL too and I was worried just now that RHEL CI jobs wouldn't get colcon-ros-domain-id-coordinator @ 0.2.3 right away. However, 0.2.3 is also available on PyPI and we use pip in RHEL CI jobs, so it should be good: https://github.com/ros2/ci/blob/6ca949152b4c3ca1875e61cc02b41db4e3e9c44a/linux_docker_resources/Dockerfile-RHEL#L219.

christophebedard avatar Apr 15 '25 04:04 christophebedard