fix: rmw_zenoh not installed in test.yml (#15)

* fix: rmw_zenoh not installed in test.yml

* fix: add the missing demo-nodes-cpp

Author: YuanYuYuan

.github/workflows/test.yml

@@ -13,19 +13,23 @@ jobs:
     container:
       image: rostooling/setup-ros-docker:ubuntu-noble-ros-jazzy-ros-base-latest
     steps:
-    - name: Install Node.js
+    - name: Install system dependencies
       run: apt-get update && apt-get install -y nodejs
 
     - name: Install ROS dependencies
-      run: apt-get install -y ros-jazzy-example-interfaces
+      run: |
+        apt-get install -y \
+          ros-jazzy-example-interfaces \
+          ros-jazzy-rmw-zenoh-cpp \
+          ros-jazzy-demo-nodes-cpp
 
     - uses: actions/checkout@v4
 
     - uses: actions-rust-lang/setup-rust-toolchain@v1
 
-    # FIXME: This fails on Github runner
-    # - name: Run interop tests
-    #   shell: bash
-    #   run: |
-    #     source /opt/ros/jazzy/setup.bash
-    #     cargo test -p ros-z-tests --features interop-tests --release
+    - name: Run interop tests
+      shell: bash
+      run: |
+        source /opt/ros/jazzy/setup.bash
+        export RMW_IMPLEMENTATION=rmw_zenoh_cpp
+        cargo test -p ros-z-tests --features interop-tests --release

ros-z-tests/tests/common/mod.rs

@@ -32,6 +32,15 @@ impl Drop for ProcessGuard {
 pub static ZENOHD: once_cell::sync::Lazy<ProcessGuard> = once_cell::sync::Lazy::new(|| {
     println!("🚀 Starting shared rmw_zenohd daemon...");
 
+    // Check if rmw_zenoh_cpp is available
+    if !check_rmw_zenoh_available() {
+        panic!(
+            "rmw_zenoh_cpp package not found!\n\
+             Please install it with: apt install ros-$ROS_DISTRO-rmw-zenoh-cpp\n\
+             Or ensure ROS environment is sourced: source /opt/ros/$ROS_DISTRO/setup.bash"
+        );
+    }
+
     let child = Command::new("ros2")
         .args(["run", "rmw_zenoh_cpp", "rmw_zenohd"])
         .env("RMW_IMPLEMENTATION", "rmw_zenoh_cpp")
@@ -72,3 +81,14 @@ pub fn wait_for_ready(duration: Duration) {
 pub fn check_ros2_available() -> bool {
     Command::new("ros2").arg("--version").output().is_ok()
 }
+
+/// Check if rmw_zenoh_cpp package is available
+pub fn check_rmw_zenoh_available() -> bool {
+    Command::new("ros2")
+        .args(["pkg", "prefix", "rmw_zenoh_cpp"])
+        .stdout(Stdio::null())
+        .stderr(Stdio::null())
+        .status()
+        .map(|status| status.success())
+        .unwrap_or(false)
+}