Implement rmw_test_fixture to start the Zenoh router by cottsay · Pull Request #583 · ros2/rmw_zenoh

cottsay · 2025-03-28T18:29:42Z

It would probably be a good idea to merge the changes to ZENOH_CONFIG_OVERRIDE with any existing values, and also to restore the original state when the fixture stops.

Requires:

Signed-off-by: Scott K Logan <logans@cottsay.net>

It's unfortunate that we need to take a dependency to parse the JSON string coming out of the session, but this strategy should reliably open start the router on an arbitrary unused port for the isolated tests to use.

Yadunund

This is great!

It would be great to also check the result of the get() call so i've suggestion some changes around that.

If the Zenoh config specifies a connect/endpoints value, ignore it during isolated testing. The user can disable isolation if they actually want the tests to connect to a specific endpoint.

Signed-off-by: Scott K Logan <logans@cottsay.net>

Yadunund

LGTM. Thanks for iterating on the PR so quickly!

cottsay · 2025-04-02T07:19:38Z

Linux
Linux-aarch64
Linux-rhel
Windows

ahcorde · 2025-04-02T07:52:51Z

Pulls: #583
Gist: https://gist.githubusercontent.com/ahcorde/e9bfa8ceb23242512089e1f8dba249d6/raw/2bf4195990589fbfc38e384a0f2b23267b522362/ros2.repos
BUILD args: --packages-up-to rmw_zenoh_cpp --packages-above-and-dependencies rmw_zenoh_cpp
TEST args: --packages-select rmw_zenoh_cpp --packages-above rmw_zenoh_cpp
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/15548

Linux
Linux-aarch64
Linux-rhel
Windows

cottsay · 2025-04-02T22:57:04Z

CI was failing due to a branch name collision in rcutils. I cleaned that up and we should be in better shape now:

Linux
Linux-aarch64
Linux-rhel
Windows

Still expecting the binary PR build to fail because debs for rcutils and rmw_test_fixture haven't been synced yet.

cottsay · 2025-04-02T23:12:47Z

Ah, rats, I need to get the new dependency into the CI builds before this can be merged.

cottsay · 2025-04-03T19:47:05Z

Fresh builds 🤞:

Linux
Linux-aarch64
Linux-rhel
Windows

Since we have the dependency now via #583, this is a potential improvement to the current string concatenation. Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>

* Update policy_parser to use nlohmann_json.hpp Since we have the dependency now via #583, this is a potential improvement to the current string concatenation. Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Further json changes Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> --------- Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>

* Added zenoh_security_configuration_tools package written in cpp Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> * Added domain id Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> * Update policy_parser to use nlohmann_json.hpp Since we have the dependency now via #583, this is a potential improvement to the current string concatenation. Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Further json changes Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Refactor package to zenoh_security_tools Signed-off-by: Yadunund <yadunund@gmail.com> * Inject certificates if enclaves provided Signed-off-by: Yadunund <yadunund@gmail.com> * Replace existing endpoints with tls instead of hardcoded changes Signed-off-by: Yadunund <yadunund@gmail.com> * Update README.md Signed-off-by: Yadunund <yadunund@gmail.com> * Also generate router config with security Signed-off-by: Yadunund <yadunund@gmail.com> * Drop CLI11 dependency Signed-off-by: Yadunund <yadunund@gmail.com> --------- Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> Signed-off-by: Yadunund <yadunund@gmail.com> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Michael Carroll <mjcarroll@intrinsic.ai>

* Added zenoh_security_configuration_tools package written in cpp Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> * Added domain id Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> * Update policy_parser to use nlohmann_json.hpp Since we have the dependency now via #583, this is a potential improvement to the current string concatenation. Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Further json changes Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Refactor package to zenoh_security_tools Signed-off-by: Yadunund <yadunund@gmail.com> * Inject certificates if enclaves provided Signed-off-by: Yadunund <yadunund@gmail.com> * Replace existing endpoints with tls instead of hardcoded changes Signed-off-by: Yadunund <yadunund@gmail.com> * Update README.md Signed-off-by: Yadunund <yadunund@gmail.com> * Also generate router config with security Signed-off-by: Yadunund <yadunund@gmail.com> * Drop CLI11 dependency Signed-off-by: Yadunund <yadunund@gmail.com> --------- Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> Signed-off-by: Yadunund <yadunund@gmail.com> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Michael Carroll <mjcarroll@intrinsic.ai> (cherry picked from commit 1dca3c3)

* Added zenoh_security_configuration_tools package written in cpp Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> * Added domain id Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> * Update policy_parser to use nlohmann_json.hpp Since we have the dependency now via #583, this is a potential improvement to the current string concatenation. Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Further json changes Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> * Refactor package to zenoh_security_tools Signed-off-by: Yadunund <yadunund@gmail.com> * Inject certificates if enclaves provided Signed-off-by: Yadunund <yadunund@gmail.com> * Replace existing endpoints with tls instead of hardcoded changes Signed-off-by: Yadunund <yadunund@gmail.com> * Update README.md Signed-off-by: Yadunund <yadunund@gmail.com> * Also generate router config with security Signed-off-by: Yadunund <yadunund@gmail.com> * Drop CLI11 dependency Signed-off-by: Yadunund <yadunund@gmail.com> --------- Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> Signed-off-by: Yadunund <yadunund@gmail.com> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Michael Carroll <mjcarroll@intrinsic.ai> (cherry picked from commit 1dca3c3) Co-authored-by: yadunund <yadunund@gmail.com>

cottsay added 2 commits March 27, 2025 16:44

WIP: Implent rmw_test_fixture to start the Zenoh router

c6c42f6

Signed-off-by: Scott K Logan <logans@cottsay.net>

Proper arbitrary port allocation for the test fixture

e9e0f0e

It's unfortunate that we need to take a dependency to parse the JSON string coming out of the session, but this strategy should reliably open start the router on an arbitrary unused port for the isolated tests to use.

Yadunund requested changes Mar 28, 2025

View reviewed changes

ahcorde requested changes Mar 31, 2025

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Comment thread rmw_zenoh_cpp/src/rmw_test_fixture.cpp Outdated

Comment thread rmw_zenoh_cpp/src/rmw_test_fixture.cpp

cottsay added 3 commits April 1, 2025 09:50

Merge branch 'rolling' into cottsay/rmw_test_fixture

20393b1

Stop connecting to an upstream router

c638112

If the Zenoh config specifies a connect/endpoints value, ignore it during isolated testing. The user can disable isolation if they actually want the tests to connect to a specific endpoint.

PR feedback: error handling, includes, etc

8a7be3f

Signed-off-by: Scott K Logan <logans@cottsay.net>

cottsay requested review from Yadunund and ahcorde April 1, 2025 23:09

Yadunund approved these changes Apr 1, 2025

View reviewed changes

cottsay marked this pull request as ready for review April 2, 2025 07:18

Explicitly disable multicast discovery during testing

d658b92

Set missing DLL export flag for Windows

9a4ceb3

cottsay changed the title ~~Implent rmw_test_fixture to start the Zenoh router~~ Implement rmw_test_fixture to start the Zenoh router Apr 3, 2025

Yadunund mentioned this pull request Apr 4, 2025

Items to get rmw_zenoh to Tier-1 status #265

Closed

mjcarroll approved these changes Apr 4, 2025

View reviewed changes

Yadunund approved these changes Apr 4, 2025

View reviewed changes

Yadunund merged commit 3850a1a into rolling Apr 4, 2025
4 of 5 checks passed

Yadunund deleted the cottsay/rmw_test_fixture branch April 4, 2025 17:50

mjcarroll pushed a commit that referenced this pull request Apr 4, 2025

Update policy_parser to use nlohmann_json.hpp

bfdf2b1

Since we have the dependency now via #583, this is a potential improvement to the current string concatenation. Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>

mjcarroll mentioned this pull request Apr 4, 2025

Update policy_parser to use nlohmann_json.hpp #592

Merged

This was referenced Apr 5, 2025

Implement new RMW API to start a process for isolated testing #577

Closed

Write pytest and ctest extensions that will help start the router in CI jobs #391

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mini-1235 mentioned this pull request Sep 6, 2025

Add rmw zenoh cpp to CI ros-navigation/navigation2#5509

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JEnoch mentioned this pull request Dec 19, 2025

Config for ci.ros2.org or build.ros2.org #881

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JEnoch mentioned this pull request Jan 7, 2026

🧑‍🌾 rmw_zenoh_cpp tests failing for nightly_win/win2025_rep/rel by timeout #869

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Implement rmw_test_fixture to start the Zenoh router#583

Implement rmw_test_fixture to start the Zenoh router#583
Yadunund merged 7 commits intorollingfrom
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