Isolate bdai_ros2_wrappers tests

Signed-off-by: Michel Hidalgo <[email protected]>

bdai_ros2_wrappers/test/conftest.py

@@ -7,15 +7,23 @@
 import bdai_ros2_wrappers.scope as scope
 from bdai_ros2_wrappers.scope import ROSAwareScope
 
+import domain_coordinator
 
-@pytest.fixture(scope="function")
-def ros() -> Iterable[ROSAwareScope]:
-    with scope.top(global_=True, namespace="fixture") as top:
+
+@pytest.fixture
+def domain_id() -> Iterable[int]:
+    with domain_coordinator.domain_id() as domain_id:  # to ensure node isolation
+        yield domain_id
+
+
+@pytest.fixture
+def ros(domain_id: int) -> Iterable[ROSAwareScope]:
+    with scope.top(global_=True, domain_id=domain_id, namespace="fixture") as top:
         yield top
 
 
-@pytest.fixture(scope="function")
-def verbose_ros() -> Iterable[ROSAwareScope]:
+@pytest.fixture
+def verbose_ros(domain_id: int) -> Iterable[ROSAwareScope]:
     args = ["--ros-args", "--enable-rosout-logs", "--log-level", "DEBUG"]
-    with scope.top(args, global_=True, namespace="fixture") as top:
+    with scope.top(args, global_=True, domain_id=domain_id, namespace="fixture") as top:
         yield top

bdai_ros2_wrappers/test/test_executors.py

@@ -16,10 +16,10 @@
 
 
 @pytest.fixture
-def ros_context() -> Generator[Context, None, None]:
+def ros_context(domain_id: int) -> Generator[Context, None, None]:
     """A fixture yielding a managed rclpy.context.Context instance."""
     context = Context()
-    rclpy.init(context=context)
+    rclpy.init(context=context, domain_id=domain_id)
     try:
         yield context
     finally:

bdai_ros2_wrappers/test/test_node.py

@@ -15,10 +15,10 @@
 
 
 @pytest.fixture
-def ros_context() -> Generator[Context, None, None]:
+def ros_context(domain_id: int) -> Generator[Context, None, None]:
     """A fixture yielding a managed rclpy.context.Context instance."""
     context = Context()
-    rclpy.init(context=context)
+    rclpy.init(context=context, domain_id=domain_id)
     try:
         yield context
     finally: