Add ROS 2 integration tests #1024

EzraBrooks · 2025-11-08T21:21:38Z

Public API Changes

None.

Description

Adds support for testing against ROS 2
Adds humble, jazzy, and kilted to the test matrix in CI
Disables ROS-1-only tests when running against distros other than noetic
Rewrote some tests that were way too timing-sensitive. Changed the way they asserted on their output, but left the assertions the same.

Closes #746

EzraBrooks · 2025-11-08T21:23:35Z

test/examples/check-topics.example.ts

-const expectedTopics = [
-  /*
-   * '/turtle1/cmd_vel', '/turtle1/color_sensor', '/turtle1/pose',
-   * '/turtle2/cmd_vel', '/turtle2/color_sensor', '/turtle2/pose',
-   */
-  "/tf2_web_republisher/status",
-  "/tf2_web_republisher/feedback",
-  // '/tf2_web_republisher/goal', '/tf2_web_republisher/result',
-  "/fibonacci/feedback",
-  "/fibonacci/status",
-  "/fibonacci/result",
-];


This test data is ROS-1-only and wasn't even sensical.. it didn't check for the one thing unique to our test suites, the /listener topic 🤦🏻‍♂️

EzraBrooks · 2025-11-08T23:18:22Z

https://github.com/RobotWebTools/roslibjs/actions/runs/19199950081/job/54886332135?pr=1024#step:6:82

Caught the malformed JSON bug in the wild in one of the Humble jobs @bjsowa @sea-bass

.github/workflows/main.yml

bjsowa · 2025-11-09T16:07:36Z

@EzraBrooks It seems some tests related to Parameters are failing. Just FYI, I reimplemented the params module in rosapi at some point (RobotWebTools/rosbridge_suite#1001) but did not backport it to humble, so they may behave slightly different.

EzraBrooks · 2025-11-09T20:08:12Z

Now we're into race-condition-land, because some of these Humble tests pass locally on my machine. I'll try cranking up their timeouts, since the default runners on GitHub Actions are tiny dual-core things.

edit: turns out the getParams call was hanging the bridge, which was failing random other tests.

EzraBrooks · 2025-11-09T20:18:28Z

test/examples/params.example.ts

+  // Known issue with getting params being able to hang in Humble because it had no timeout.
+  // This doesn't even work with `ros2 param list` at the CLI in our test environment :(


EzraBrooks · 2025-11-09T20:31:25Z

test/examples/setup_examples_ros2.launch.xml

+<launch>
+  <!-- Include rosbridge websocket launch file for ROS 2 -->
+  <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml">
+    <arg name="call_services_in_new_thread" value="true"/>


turns out our tests accidentally depend on this behavior which was not default in humble

Maybe leave a comment related to this so that when humble goes eol someone can see this and delete it

I'd also enable the action equivalent param send_action_goals_in_new_thread (going off memory) for the same reason

Closes #746

EzraBrooks · 2025-11-09T20:50:42Z

With how much duplicated effort is going on here, I think roslibjs 2.x should be the final major release to support ROS 1.

I think there are a lot of great improvements in 2.0 that we should provide the ROS 1 users, but we should move on pretty quickly to a 3.0 that has no ROS 1 support.

EzraBrooks · 2025-11-09T20:53:57Z

I enabled testing on rolling and then immediately disabled it because something outside my control was broken. Sorry, not gonna happen - at least not right now.

sea-bass · 2025-11-09T20:56:00Z

I enabled testing on rolling and then immediately disabled it because something outside my control was broken. Sorry, not gonna happen - at least not right now.

It just seems like whatever ros version is being used in the backend for the rolling test doesn't contain this change

ros2/rosidl#887

sea-bass · 2025-11-09T21:02:12Z

It honestly may get easily fixed by doing an apt-get upgrade here:

roslibjs/Dockerfile

Line 9 in 76fc87e

apt-get update && \

Although that has implications for caching, of course. Ideally the docker image is just up to date lol

https://hub.docker.com/layers/library/ros/rolling-ros-base/images/sha256-c61fdc63cea06cdd8f60b18946b68f880d874335e1d20cc0d1314dda5fbc8753

EzraBrooks · 2025-11-09T21:04:34Z

I'm still not a fan of having my code be tested against the unstable branch of someone else's code, regardless.

sea-bass · 2025-11-09T21:05:26Z

I'm still not a fan of having my code be tested against the unstable branch of someone else's code, regardless.

The usual model (at least that makes sense to me) is to have rolling in CI so you get the early feedback, but not having it be a required check to pass

EzraBrooks · 2025-11-09T21:07:43Z

And therein lies the problem where people in the ROS community become inoculated to the sight of failing CI jobs.

imo, next steps for the tests in this repo are to eliminate all the dependencies other than rosbridge_websocket and tf2_web_republisher, and then maybe at that point we could test against rolling since they're "our code".

sea-bass

woof, you are right the ros 1/2 branching logic is something we should seek to get rid of. Nice job figuring all that out though.

sea-bass · 2025-11-09T21:06:53Z

test/examples/params.example.ts

+const PARAM_NAME =
+  process.env.ROS_DISTRO === "noetic"
+    ? "/test/foo"
+    : // Is it crazy to muck around with use_sim_time here? I feel like it shouldn't matter..


sea-bass · 2025-11-09T21:08:39Z

test/examples/setup_examples_ros2.launch.xml

+<launch>
+  <!-- Include rosbridge websocket launch file for ROS 2 -->
+  <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml">
+    <arg name="call_services_in_new_thread" value="true"/>


Maybe leave a comment related to this so that when humble goes eol someone can see this and delete it

I'd also enable the action equivalent param send_action_goals_in_new_thread (going off memory) for the same reason

sea-bass · 2025-11-09T21:12:37Z

imo, next steps for the tests in this repo are to eliminate all the dependencies other than rosbridge_websocket and tf2_web_republisher, and then maybe at that point we could test against rolling since they're "our code".

These packages won't be able to easily stop depending on "core" libraries like rclpy or rosidl (which is what is failing atm), so this might not be super feasible.

But you're right, I don't think it's unreasonable to simply not test rolling. It means less risk of "red is okay" but also means by the time a new stable distro is cut the number of surprises has potentially amassed.

EzraBrooks · 2025-11-09T21:13:42Z

I think it's easier to squash all the bugs at once than it is to be stressed out from random CI fires for a year ;)

EzraBrooks commented Nov 8, 2025

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EzraBrooks marked this pull request as draft November 8, 2025 21:42

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EzraBrooks changed the base branch from develop to reenable-mistakenly-disabled-integration-tests November 8, 2025 23:13

EzraBrooks force-pushed the add-ros2-integration-tests branch from 496132e to e05d367 Compare November 8, 2025 23:13

Base automatically changed from reenable-mistakenly-disabled-integration-tests to develop November 8, 2025 23:51

EzraBrooks force-pushed the add-ros2-integration-tests branch from 16c97c9 to 5bad2c5 Compare November 8, 2025 23:51

bjsowa reviewed Nov 8, 2025

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EzraBrooks force-pushed the add-ros2-integration-tests branch 2 times, most recently from 9ebdad7 to 9914ed3 Compare November 9, 2025 19:49

EzraBrooks commented Nov 9, 2025

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EzraBrooks added 7 commits November 9, 2025 13:34

Add ROS 2 integration tests

2b374f7

Closes #746

Get Param test passing in both ROS 1 and ROS 2

883654f

Rewrite pubsub test to accomodate ROS 2 nondeterministic topic order

3f9991e

Make Params and Topics tests less fragile

53a7d35

Skip getParams test on Humble due to upstream bug

6403f6f

Clarify assertions in Service test

310c315

Enable call_services_in_new_thread on rosbridge

0636126

EzraBrooks force-pushed the add-ros2-integration-tests branch from 53f73c9 to 0636126 Compare November 9, 2025 20:35

EzraBrooks added 3 commits November 9, 2025 13:42

remove annoying log from fibonacci example

c406ad3

Lengthen timeout on slow test on ROS 1

90902f6

Add kilted, rolling to CI

39004c4

I don't have the time in my life to support rolling

76fc87e

EzraBrooks marked this pull request as ready for review November 9, 2025 20:54

EzraBrooks requested review from bjsowa and sea-bass November 9, 2025 20:54

sea-bass approved these changes Nov 9, 2025

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add comments about humble EOL

d3d5bfe

EzraBrooks enabled auto-merge (squash) November 9, 2025 21:14

EzraBrooks merged commit 87b9383 into develop Nov 9, 2025
12 checks passed

EzraBrooks deleted the add-ros2-integration-tests branch November 9, 2025 21:16

		// Known issue with getting params being able to hang in Humble because it had no timeout.
		// This doesn't even work with `ros2 param list` at the CLI in our test environment :(

Add ROS 2 integration tests #1024

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