Default ROS_HOME and ROS_LOG_DIR env vars in ros2_cpp_test

ros2/cc_defs.bzl

@@ -72,6 +72,7 @@ def _ros2_cpp_exec(target, name, ros2_package_name = None, set_up_ament = False,
     target_impl = name + "_impl"
     tags = kwargs.pop("tags", [])
     visibility = kwargs.pop("visibility", None)
+    size = kwargs.pop("size", None)
     _ros2_cc_target(cc_binary, "cpp", target_impl, ros2_package_name, tags = ["manual"], **kwargs)
 
     is_test = target == cc_test
@@ -92,6 +93,7 @@ def _ros2_cpp_exec(target, name, ros2_package_name = None, set_up_ament = False,
     sh_target = native.sh_test if is_test else native.sh_binary
     sh_target(
         name = name,
+        size = size,
         srcs = [launcher],
         data = [target_impl],
         tags = tags,

ros2/launch.sh.tpl

@@ -2,6 +2,16 @@
 
 set -o errexit -o nounset -o pipefail
 
+if [[ ! -z "${BAZEL_TEST:-}" ]]; then
+  bazel_test_output_dir="${TEST_UNDECLARED_OUTPUTS_DIR:-${TEST_TMPDIR}}"
+  if [[ -z "${ROS_HOME:-}" ]]; then
+    export ROS_HOME="${bazel_test_output_dir}"
+  fi
+  if [[ -z "${ROS_LOG_DIR:-}" ]]; then
+    export ROS_LOG_DIR="${bazel_test_output_dir}"
+  fi
+fi
+
 ament_prefix_path="{{ament_prefix_path}}"
 if [ -z "${ament_prefix_path}" ]; then
   unset AMENT_PREFIX_PATH

ros2/py_defs.bzl

@@ -13,6 +13,7 @@ def _ros2_py_exec(target, name, srcs, main, set_up_ament, **kwargs):
     target_impl = name + "_impl"
     tags = kwargs.pop("tags", [])
     visibility = kwargs.pop("visibility", None)
+    size = kwargs.pop("size", None)
     target(name = target_impl, srcs = srcs, main = main, tags = ["manual"], **kwargs)
 
     is_test = target == py_test
@@ -41,6 +42,7 @@ def _ros2_py_exec(target, name, srcs, main, set_up_ament, **kwargs):
     sh_target = native.sh_test if is_test else native.sh_binary
     sh_target(
         name = name,
+        size = size,
         srcs = [launcher],
         data = [target_impl_symlink],
         tags = tags,

ros2/pytest_wrapper.py.tpl

@@ -33,10 +33,13 @@ def finalize_coverage_session(coverage_session: coverage.Coverage) -> None:
 
 
 def main() -> None:
-    test_outputs_dir = os.environ.get('TEST_UNDECLARED_OUTPUTS_DIR')
-    if test_outputs_dir:
-        os.environ['ROS_HOME'] = test_outputs_dir
-        os.environ['ROS_LOG_DIR'] = test_outputs_dir
+    bazel_test_output_dir = os.environ.get('TEST_UNDECLARED_OUTPUTS_DIR')
+    if bazel_test_output_dir is None:
+        bazel_test_output_dir = os.environ.get('TEST_TMPDIR')
+    if 'ROS_HOME' not in os.environ:
+        os.environ['ROS_HOME'] = bazel_test_output_dir
+    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:

ros2/test.py.tpl

@@ -17,10 +17,13 @@ sys.argv = sys.argv[:1] + [
     LAUNCH_FILE,
 ] + sys.argv[1:]
 
-test_outputs_dir = os.environ.get('TEST_UNDECLARED_OUTPUTS_DIR')
-if test_outputs_dir:
-    os.environ['ROS_HOME'] = test_outputs_dir
-    os.environ['ROS_LOG_DIR'] = test_outputs_dir
+bazel_test_output_dir = os.environ.get('TEST_UNDECLARED_OUTPUTS_DIR')
+if bazel_test_output_dir is None:
+    bazel_test_output_dir = os.environ.get('TEST_TMPDIR')
+if 'ROS_HOME' not in os.environ:
+    os.environ['ROS_HOME'] = bazel_test_output_dir
+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:

ros2/test/BUILD.bazel

@@ -1,6 +1,7 @@
 """ Defines tests.
 """
 
+load("@com_github_mvukov_rules_ros2//ros2:cc_defs.bzl", "ros2_cpp_test")
 load(
     "@com_github_mvukov_rules_ros2//ros2:interfaces.bzl",
     "py_ros2_interface_library",
@@ -45,3 +46,11 @@ py_test(
         ":py_test_action",
     ],
 )
+
+ros2_cpp_test(
+    name = "test_rclcpp",
+    size = "small",
+    srcs = ["test_rclcpp.cpp"],
+    set_up_ament = True,
+    deps = ["@ros2_rclcpp//:rclcpp"],
+)

ros2/test/launch_pytest/BUILD.bazel

@@ -1,3 +1,4 @@
+load("@com_github_mvukov_rules_ros2//ros2:py_defs.bzl", "ros2_py_test")
 load("@com_github_mvukov_rules_ros2//ros2:test.bzl", "ros2_test")
 load("@rules_cc//cc:defs.bzl", "cc_binary")
 
@@ -9,7 +10,38 @@ cc_binary(
 
 ros2_test(
     name = "launch_pytest_test",
+    size = "small",
     launch_file = "launch_pytest_test.py",
     nodes = [":hello"],
     use_pytest = True,
 )
+
+ros2_test(
+    name = "ros2_test_pytest_rclpy_init_test",
+    size = "small",
+    launch_file = "rclpy_init_test.py",
+    nodes = [":hello"],
+    use_pytest = True,
+    deps = ["@ros2_rclpy//:rclpy"],
+)
+
+ros2_test(
+    name = "ros2_test_launch_testing_rclpy_init_test",
+    size = "small",
+    launch_file = "rclpy_init_test.py",
+    nodes = [":hello"],
+    use_pytest = False,
+    deps = ["@ros2_rclpy//:rclpy"],
+)
+
+ros2_py_test(
+    name = "ros2_py_test_rclpy_init_test",
+    size = "small",
+    srcs = ["rclpy_init_test.py"],
+    main = "rclpy_init_test.py",
+    set_up_ament = True,
+    deps = [
+        "@ros2_launch//:launch_pytest",
+        "@ros2_rclpy//:rclpy",
+    ],
+)

ros2/test/launch_pytest/rclpy_init_test.py

@@ -0,0 +1,31 @@
+"""Test rclpy.init() in different test drivers.
+
+What is tested here is that ROS_HOME (or ROS_LOG_DIR) is set.
+If it is not set, rclpy.init() will fail to initialize.
+
+It makes sense to test this for each test driver because each uses a different
+wrapper to set the environment vars.
+"""
+import launch
+import launch_testing.actions
+import launch_testing.markers
+import rclpy
+
+
+def test_rclpy_init():
+    """This will run when using ros2_test with pytest as test driver."""
+    rclpy.init()
+
+
+@launch_testing.markers.keep_alive
+def generate_test_description():
+    """This will run when using ros2_test with launch_testing as test driver."""
+    rclpy.init()
+    return launch.LaunchDescription([
+        launch_testing.actions.ReadyToTest(),
+    ])
+
+
+if __name__ == '__main__':
+    """This will run when using ros2_py_test."""
+    test_rclpy_init()

ros2/test/test_rclcpp.cpp

@@ -0,0 +1,28 @@
+// Copyright 2023 Laurenz Altenmueller
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <cstdlib>
+
+#include <rclcpp/rclcpp.hpp>
+
+int main(int argc, char** argv) {
+  // If neither $ROS_HOME nor $ROS_LOG_DIR are set to a valid directory,
+  // rclcpp:init() will fail with these errors:
+  // clang-format off
+  // 'rcutils_expand_user failed, at external/ros2_rcl_logging/rcl_logging_interface/src/logging_dir.c:81'             // NOLINT
+  // 'Failed to get logging directory, at external/ros2_rcl_logging/rcl_logging_spdlog/src/rcl_logging_spdlog.cpp:83'  // NOLINT
+  // clang-format on
+  rclcpp::init(argc, argv);
+  return rclcpp::shutdown() ? EXIT_SUCCESS : EXIT_FAILURE;
+}