Fix interference between test_tracetools and ros2lifecycle tests

test_tracetools/test/test_lifecycle_node.py

@@ -33,6 +33,7 @@ def __init__(self, *args) -> None:
             ],
             package='test_tracetools',
             nodes=['test_lifecycle_node', 'test_lifecycle_client'],
+            namespace='/test_tracetools',
         )
 
     def test_all(self):
@@ -46,6 +47,11 @@ def test_all(self):
             'test_lifecycle_node',
             rcl_node_init_events,
         )
+        lifecycle_node_matches = self.get_events_with_field_value(
+            'namespace',
+            '/test_tracetools',
+            lifecycle_node_matches,
+        )
         self.assertNumEventsEqual(lifecycle_node_matches, 1)
         lifecycle_node_handle = self.get_field(lifecycle_node_matches[0], 'node_handle')
 
@@ -69,7 +75,6 @@ def test_all(self):
 
         # This list of states corresponds to the states that the test_lifecycle_node goes through
         # following test_lifecycle_client's requests
-        # We do not expect any other lifecycle node
         expected_lifecycle_states = [
             'unconfigured',
             'configuring',
@@ -90,29 +95,22 @@ def test_all(self):
             (expected_lifecycle_states[i], expected_lifecycle_states[i + 1])
             for i in range(len(expected_lifecycle_states) - 1)
         ]
-        # Check transitions
-        rcl_lifecycle_transition_events = self.get_events_with_name(
-            tp.rcl_lifecycle_transition)
+        # Check transitions for our state machine
+        rcl_lifecycle_transition_events = self.get_events_with_name(tp.rcl_lifecycle_transition)
+        transition_events = self.get_events_with_field_value(
+            'state_machine',
+            state_machine_handle,
+            rcl_lifecycle_transition_events,
+        )
         lifecycle_state_transitions = [
             (self.get_field(event, 'start_label'), self.get_field(event, 'goal_label'))
-            for event in rcl_lifecycle_transition_events
+            for event in transition_events
         ]
         self.assertListEqual(
             expected_lifecycle_state_transitions,
             lifecycle_state_transitions,
             'transitions not valid',
         )
-        # Make sure all state machine handle values match the one from the init event
-        self.assertTrue(
-            all(
-                self.get_field(event, 'state_machine') == state_machine_handle
-                for event in rcl_lifecycle_transition_events
-            ),
-            (
-                f"state machine handles do not all match '{state_machine_handle}': "
-                f'{rcl_lifecycle_transition_events}'
-            ),
-        )
 
 
 if __name__ == '__main__':

tracetools_test/tracetools_test/case.py

@@ -63,6 +63,7 @@ def __init__(
         base_path: str = '/tmp',
         events_kernel: List[str] = [],
         additional_actions: Optional[List[Action]] = None,
+        namespace: Optional[str] = None,
     ) -> None:
         """Create a TraceTestCase."""
         super().__init__(methodName=args[0])
@@ -73,6 +74,7 @@ def __init__(
         self._package = package
         self._nodes = nodes
         self._additional_actions = additional_actions or []
+        self._namespace = namespace
 
     def setUp(self):
         # Get timestamp before trace (ns)
@@ -85,6 +87,7 @@ def setUp(self):
             self._events_kernel,
             self._package,
             self._nodes,
+            self._namespace,
             self._additional_actions,
         )
 

tracetools_test/tracetools_test/utils.py

@@ -17,6 +17,7 @@
 import os
 import shutil
 from typing import List
+from typing import Optional
 from typing import Tuple
 
 from launch import Action
@@ -36,6 +37,7 @@ def run_and_trace(
     kernel_events: List[str],
     package_name: str,
     node_names: List[str],
+    namespace: Optional[str],
     additional_actions: List[Action],
 ) -> Tuple[int, str]:
     """
@@ -47,6 +49,7 @@ def run_and_trace(
     :param kernel_events: the list of kernel events to enable
     :param package_name: the name of the package to use
     :param node_names: the names of the nodes to execute
+    :param namespace: the ROS namespace for the node(s)
     :param additional_actions: the list of additional actions to append
     :return: exit code, full generated path
     """
@@ -69,6 +72,7 @@ def run_and_trace(
         n = Node(
             package=package_name,
             executable=node_name,
+            namespace=namespace,
             output='screen',
         )
         launch_actions.append(n)