Add EnableRmwIsolation action for starting rmw_test_fixture (#459)

Signed-off-by: Scott K Logan <[email protected]>

Author: cottsay

launch_testing_ros/launch_testing_ros/actions/__init__.py

@@ -0,0 +1,19 @@
+# Copyright 2025 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from .enable_rmw_isolation import EnableRmwIsolation
+
+__all__ = [
+    'EnableRmwIsolation',
+]

launch_testing_ros/launch_testing_ros/actions/enable_rmw_isolation.py

@@ -0,0 +1,41 @@
+# Copyright 2025 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from typing import List
+from typing import Optional
+
+from launch.action import Action
+from launch.event import Event
+from launch.event_handlers import OnShutdown
+from launch.launch_context import LaunchContext
+from launch.launch_description_entity import LaunchDescriptionEntity
+from launch.some_entities_type import SomeEntitiesType
+from rmw_test_fixture_implementation import rmw_test_isolation_start
+from rmw_test_fixture_implementation import rmw_test_isolation_stop
+
+
+class EnableRmwIsolation(Action):
+    """Action which enables isolation of ROS communication using rmw_test_fixture."""
+
+    def __init__(self, **kwargs) -> None:
+        """Create a EnableRmwIsolation action."""
+        super().__init__(**kwargs)
+
+    def __on_shutdown(self, event: Event, context: LaunchContext) -> Optional[SomeEntitiesType]:
+        rmw_test_isolation_stop()
+
+    def execute(self, context: LaunchContext) -> Optional[List[LaunchDescriptionEntity]]:
+        rmw_test_isolation_start()
+        context.register_event_handler(OnShutdown(
+            on_shutdown=self.__on_shutdown))

launch_testing_ros/package.xml

@@ -19,6 +19,7 @@
   <exec_depend>launch_testing</exec_depend>
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>rclpy</exec_depend>
+  <exec_depend>rmw_test_fixture_implementation</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>