test: isolate every integration launch test on its own DDS domain

[bburda]

Pull Request

Summary

Give every launch_testing integration test a unique ROS_DOMAIN_ID so parallel ctest runs cannot cross-contaminate, and make that invariant hard to break.

Before this change, only ros2_medkit_integration_tests isolated its launch tests. The add_launch_test targets in ros2_medkit_fault_manager, ros2_medkit_diagnostic_bridge, ros2_medkit_fault_reporter, ros2_medkit_action_status_bridge and ros2_medkit_log_bridge set no domain, so they all ran on the default domain 0. Under parallel ctest they discovered each other's nodes. That is how test_01_error_log_creates_attributed_fault in ros2_medkit_log_bridge failed: its fault manager picked up ACTION_TEST_ACTION_ABORTED from the ros2_medkit_action_status_bridge test node.

Changes (commit 1):

• Add a medkit_add_launch_test wrapper that registers a launch test and assigns its domain in one call, and route every launch test through it, so a launch test can no longer be added without isolation. fault_reporter had no range, so it gets one.
• Reallocate the domain table so the pools are disjoint and the glob-grown integration_tests pool gets headroom: reclaim the slack in the fixed beacon pools (param_beacon, topic_beacon each used 1 of 10, now 5 each), move fault_reporter/log_bridge/action_status_bridge into 110-119, and grow integration_tests to 130-219 (90 slots, 74 used). graph_provider (120-129) and opcua (220-229) are unchanged.
• Drop three hardcoded ROS_DOMAIN_ID overrides that bypassed the table: the fault_manager rosbag launch tests forced 42/43 (which collided with the gateway gtests assigned 42/43), and the gateway test_fault_manager gtest forced 99 as a manual workaround for the launch tests running on domain 0. Each test now inherits its assigned domain.

Commit 2 fixes a separate flake in the same test that CI surfaced: the log_bridge integration test used a fixed 1s sleep to let the bridge connect, then published a single ERROR log. On a slow machine the bridge had not matched the /rosout publisher within 1s, so the first log was dropped and its fault never appeared. It now waits on the matched subscription count instead, the same pattern the other bridge tests already use.

---

Issue

• closes [BUG] Integration launch tests run on the default DDS domain and cross-contaminate under parallel ctest #550

---

Type

• Bug fix
• New feature or tests
• Breaking change
• Documentation only

---

Testing

Built the affected packages and confirmed each launch test's ctest ENVIRONMENT carries a unique ROS_DOMAIN_ID (fault_manager 15-18, diagnostic_bridge 91, fault_reporter 110, log_bridge 114, action_status_bridge 117, integration_tests 130-203). medkit_add_launch_test verified to assign the domain (fault_reporter test -> 110).

Ran the two tests that were cross-contaminating (log_bridge and action_status_bridge) at the same time; both pass together now. Ran the two rosbag tests and the gateway test_fault_manager on their assigned domains, concurrently with a real fault_manager_node, to confirm the removed hardcodes were not needed.

CMake configure passes with no domain-range exhaustion.

---

Checklist

• Breaking changes are clearly described (and announced in docs / changelog if needed)
• Tests were added or updated if needed
• Docs were updated if behavior or public API changed

[Copilot]

Pull request overview

This PR fixes nondeterministic failures in parallel CTest runs by ensuring every launch_testing integration test executes on a unique DDS domain (ROS_DOMAIN_ID), preventing cross-test ROS graph discovery and message/fault contamination.

Changes:

• Assign per-test ROS_DOMAIN_ID to all add_launch_test() targets in affected packages via medkit_set_test_domain(...).
• Reallocate and tighten DDS domain ranges to remove overlaps between ros2_medkit_integration_tests and previously carved-out package test ranges.
• Update the central domain allocation table and integration-test docs to reflect the new bounds.

Reviewed changes

Copilot reviewed 8 out of 8 changed files in this pull request and generated no comments.

Show a summary per file

File	Description
src/ros2_medkit_fault_manager/CMakeLists.txt	Applies medkit_set_test_domain to all fault_manager launch tests to avoid parallel DDS collisions.
src/ros2_medkit_diagnostic_bridge/CMakeLists.txt	Ensures the diagnostic_bridge integration launch test runs with an allocated ROS_DOMAIN_ID.
src/ros2_medkit_fault_reporter/CMakeLists.txt	Introduces a dedicated domain range and assigns a domain to the fault_reporter launch test.
src/ros2_medkit_log_bridge/CMakeLists.txt	Moves the package’s test domain pool into the new 130–139 block and assigns a domain to the launch test.
src/ros2_medkit_action_status_bridge/CMakeLists.txt	Moves the package’s test domain pool into the new 130–139 block and assigns a domain to the launch test.
src/ros2_medkit_integration_tests/CMakeLists.txt	Caps the per-test domain pool at 140–219 to avoid overlapping other package allocations.
src/ros2_medkit_integration_tests/ros2_medkit_test_utils/constants.py	Updates documentation for the primary per-test DDS domain range to 140–219.
src/ros2_medkit_cmake/cmake/ROS2MedkitTestDomain.cmake	Updates the global DDS domain allocation table and clarifies the requirement to isolate add_launch_test() via medkit_set_test_domain.