Clean up testing infra (#388)

.bazelrc

@@ -16,9 +16,6 @@ build --noenable_bzlmod
 # This is a mandatory flag.
 build --incompatible_default_to_explicit_init_py
 
-# Don't let local Python site packages leak into the build and cause problems
-common --action_env=PYTHONNOUSERSITE=1
-
 # All code will be compiled with C++17 flag.
 # Users can naturally override copts for cc_* targets.
 # NOTE: googletest >=v1.13.0 requires min C++14.
@@ -28,7 +25,13 @@ build --cxxopt=-std=c++17
 # Ensure that you don't accidentally make non-hermetic actions/tests
 # which depend on remote services. Tag an individual target with
 # tags=["requires-network"] to opt-out of the enforcement.
+# In ROS context this is important such that each test target is executed
+# in a separate network environment.
+# This is a mandatory flag.
 build --sandbox_default_allow_network=false
+
+# Don't let local Python site packages leak into the build and cause problems
+common --action_env=PYTHONNOUSERSITE=1
 # Don't let environment variables like $PATH sneak into the build,
 # which can cause massive cache misses when they change.
 common --incompatible_strict_action_env

repositories/ros2_repo_mappings.yaml

@@ -1,8 +1,5 @@
 # Maps names of ROS repositories to Bazel' http_archive arguments.
 repositories:
-  ament_cmake_ros:
-    name: ros2_ament_cmake_ros
-    build_file: "@com_github_mvukov_rules_ros2//repositories:ament_cmake_ros.BUILD.bazel"
   ament_index:
     name: ros2_ament_index
     build_file: "@com_github_mvukov_rules_ros2//repositories:ament_index.BUILD.bazel"
@@ -110,9 +107,6 @@ repositories:
     build_file: "@com_github_mvukov_rules_ros2//repositories:ros2cli.BUILD.bazel"
     patches:
       - "@com_github_mvukov_rules_ros2//repositories/patches:ros2cli_replace-netifaces.patch"
-  ros_testing:
-    name: ros2_ros_testing
-    build_file: "@com_github_mvukov_rules_ros2//repositories:ros_testing.BUILD.bazel"
   rosbag2:
     name: ros2_rosbag2
     build_file: "@com_github_mvukov_rules_ros2//repositories:rosbag2.BUILD.bazel"

repositories/ros2_repositories_impl.bzl

@@ -3,15 +3,6 @@ load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 load("@bazel_tools//tools/build_defs/repo:utils.bzl", "maybe")
 
 def ros2_repositories_impl():
-    maybe(
-        http_archive,
-        name = "ros2_ament_cmake_ros",
-        build_file = "@com_github_mvukov_rules_ros2//repositories:ament_cmake_ros.BUILD.bazel",
-        sha256 = "01c778f18315ad13efd02e24200ff04f1e72359096c0967dba45e45bc479b3c6",
-        strip_prefix = "ament_cmake_ros-0.10.0",
-        url = "https://github.com/ros2/ament_cmake_ros/archive/refs/tags/0.10.0.tar.gz",
-    )
-
     maybe(
         http_archive,
         name = "ros2_ament_index",
@@ -290,15 +281,6 @@ def ros2_repositories_impl():
         url = "https://github.com/ros2/ros2cli/archive/refs/tags/0.18.10.tar.gz",
     )
 
-    maybe(
-        http_archive,
-        name = "ros2_ros_testing",
-        build_file = "@com_github_mvukov_rules_ros2//repositories:ros_testing.BUILD.bazel",
-        sha256 = "f52dc8d48e3e525597e96e5316e882a03cbed6b2d3024699219c0afc0283a38b",
-        strip_prefix = "ros_testing-0.4.0",
-        url = "https://github.com/ros2/ros_testing/archive/refs/tags/0.4.0.tar.gz",
-    )
-
     maybe(
         http_archive,
         name = "ros2_rosbag2",

ros2/cc_defs.bzl

@@ -119,6 +119,9 @@ def ros2_cpp_test(name, ros2_package_name = None, set_up_ament = True, idl_deps
 
     Adds common ROS 2 C++ definitions on top of a cc_test.
 
+    Please make sure that --sandbox_default_allow_network=false is set in .bazelrc.
+    This ensures proper network isolation.
+
     Args:
         name: A unique target name.
         ros2_package_name: If given, defines a ROS package name for the target.

ros2/py_defs.bzl

@@ -60,6 +60,9 @@ def ros2_py_binary(name, srcs, main, set_up_ament = False, **kwargs):
 def ros2_py_test(name, srcs, main, set_up_ament = True, **kwargs):
     """ Defines a ROS 2 Python test.
 
+    Please make sure that --sandbox_default_allow_network=false is set in .bazelrc.
+    This ensures proper network isolation.
+
     Args:
         name: A unique target name.
         srcs: List of source files.

ros2/pytest_wrapper.py.tpl

@@ -1,12 +1,10 @@
 # Adapted from https://gist.github.com/betaboon/c1dd785b5ba468b4df4e382eafff969a
 
-import contextlib
 import os
 import pathlib
 import sys
 
 import coverage
-import domain_coordinator
 import pytest
 
 {ament_setup}
@@ -41,28 +39,22 @@ def main() -> None:
     if 'ROS_LOG_DIR' not in os.environ:
         os.environ['ROS_LOG_DIR'] = bazel_test_output_dir
 
-    with contextlib.ExitStack() as stack:
-        if 'ROS_DOMAIN_ID' not in os.environ:
-            domain_id = stack.enter_context(domain_coordinator.domain_id())
-            os.environ['ROS_DOMAIN_ID'] = str(domain_id)
-        print(f'Running with ROS_DOMAIN_ID {os.environ["ROS_DOMAIN_ID"]}')
+    bazel_coverage = os.getenv('COVERAGE') == '1'
 
-        bazel_coverage = os.getenv('COVERAGE') == '1'
+    coverage_session = None
+    if bazel_coverage:
+        coverage_session = start_coverage_session()
 
-        coverage_session = None
-        if bazel_coverage:
-            coverage_session = start_coverage_session()
+    args = [
+        '-ra', '-vv', '-p', 'launch_pytest.plugin',
+        f'--junitxml={os.environ["XML_OUTPUT_FILE"]}'
+    ] + sys.argv[1:]
+    pytest_exit_code = pytest.main(args)
 
-        args = [
-            '-ra', '-vv', '-p', 'launch_pytest.plugin',
-            f'--junitxml={os.environ["XML_OUTPUT_FILE"]}'
-        ] + sys.argv[1:]
-        pytest_exit_code = pytest.main(args)
+    if coverage_session:
+        finalize_coverage_session(coverage_session)
 
-        if coverage_session:
-            finalize_coverage_session(coverage_session)
-
-        sys.exit(pytest_exit_code)
+    sys.exit(pytest_exit_code)
 
 
 if __name__ == '__main__':

ros2/test.bzl

@@ -8,9 +8,12 @@ load("@rules_ros2_pip_deps//:requirements.bzl", "requirement")
 def ros2_test(name, launch_file, nodes = None, deps = None, data = None, idl_deps = None, use_pytest = False, **kwargs):
     """ Defines a ROS 2 test.
 
-    In case you don't need ROS 2 nodes for tests, but need ament setup such
-    that e.g. plugins can work: use a lightweight macro ros2_cpp_test
-    from //ros2:cc_defs.bzl.
+    For lighter options, e.g. you don't need a launch file, please take a look at:
+    * ros2_cpp_test in //ros2:cc_defs.bzl and
+    * ros2_py_test in //ros2:py_defs.bzl
+
+    Please make sure that --sandbox_default_allow_network=false is set in .bazelrc.
+    This ensures proper network isolation.
 
     Args:
         name: A unique target name.
@@ -51,7 +54,6 @@ def _ros2_launch_testing_test(name, nodes, launch_file, deps, data, idl_deps, **
         data = nodes + [launch_file] + data,
         main = launch_script,
         deps = [
-            "@ros2_ament_cmake_ros//:domain_coordinator",
             "@ros2_launch//:launch_testing",
             "@ros2_launch_ros//:launch_testing_ros",
         ] + deps,
@@ -78,7 +80,6 @@ def _ros2_launch_pytest_test(name, nodes, launch_file, deps, data, idl_deps, **k
         args = kwargs.pop("args", []) + ["$(rootpath :%s)" % launch_file],
         deps = [
             "@ros2_launch//:launch_pytest",
-            "@ros2_ament_cmake_ros//:domain_coordinator",
             requirement("coverage"),
             requirement("pytest"),
             requirement("pytest-cov"),

ros2/test.py.tpl

@@ -1,17 +1,15 @@
-import contextlib
 import os
 import sys
 
-import domain_coordinator
 import launch_testing.launch_test
 import launch_testing_ros
 
 {ament_setup}
 
 LAUNCH_FILE = '{launch_file}'
 
-# The package name is intentionally undefined such that ros2test picks up
-# the given launch file.
+# The package name is intentionally undefined such that
+# launch_testing.launch_test picks up the given launch file.
 sys.argv = sys.argv[:1] + [
     f'--junit-xml={os.environ["XML_OUTPUT_FILE"]}',
     LAUNCH_FILE,
@@ -25,13 +23,7 @@ if 'ROS_HOME' not in os.environ:
 if 'ROS_LOG_DIR' not in os.environ:
     os.environ['ROS_LOG_DIR'] = bazel_test_output_dir
 
-with contextlib.ExitStack() as stack:
-    if 'ROS_DOMAIN_ID' not in os.environ:
-        domain_id = stack.enter_context(domain_coordinator.domain_id())
-        os.environ['ROS_DOMAIN_ID'] = str(domain_id)
-    print(f'Running with ROS_DOMAIN_ID {os.environ["ROS_DOMAIN_ID"]}')
-
-    parser, args = launch_testing.launch_test.parse_arguments()
-    exit_code = launch_testing.launch_test.run(
-        parser, args, test_runner_cls=launch_testing_ros.LaunchTestRunner)
-    sys.exit(exit_code)
+parser, args = launch_testing.launch_test.parse_arguments()
+exit_code = launch_testing.launch_test.run(
+    parser, args, test_runner_cls=launch_testing_ros.LaunchTestRunner)
+sys.exit(exit_code)