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Fix test_security tests using rmw_connextdds by disabling Monitoring 2.0 #596

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Fix test_security tests using rmw_connextdds by disabling Monitoring 2.0 #596

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15 changes: 11 additions & 4 deletions test_security/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -51,15 +51,22 @@ if(BUILD_TESTING)
endfunction()

function(custom_security_test_c target)
set(test_env
RCL_ASSERT_RMW_ID_MATCHES=${rmw_implementation}
RMW_IMPLEMENTATION=${rmw_implementation}
ROS_SECURITY_KEYSTORE=${KEYSTORE_DIRECTORY_NATIVE_PATH}
PATH="${TEST_PATH}"
)
if(rmw_implementation STREQUAL "rmw_connextdds")
list(APPEND test_env RTI_MONITORING2_ENABLE=false)
endif()

ament_add_gtest(
"${target}${target_suffix}" ${ARGN}
TIMEOUT 10
APPEND_LIBRARY_DIRS "${append_library_dirs}"
ENV
RCL_ASSERT_RMW_ID_MATCHES=${rmw_implementation}
RMW_IMPLEMENTATION=${rmw_implementation}
ROS_SECURITY_KEYSTORE=${KEYSTORE_DIRECTORY_NATIVE_PATH}
PATH="${TEST_PATH}"
${test_env}
)
if(TARGET ${target}${target_suffix})
target_link_libraries(${target}${target_suffix}
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4 changes: 4 additions & 0 deletions test_security/test/test_secure_publisher_subscriber.py.in
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,8 @@ def generate_test_description():
publisher_env['ROS_SECURITY_ENABLE'] = '@PUBLISHER_ROS_SECURITY_ENABLE@'
publisher_env['ROS_SECURITY_STRATEGY'] = '@PUBLISHER_ROS_SECURITY_STRATEGY@'
publisher_env['ROS_SECURITY_KEYSTORE'] = '@PUBLISHER_ROS_SECURITY_KEYSTORE@'
if '@PUBLISHER_RMW@' == 'rmw_connextdds':
publisher_env['RTI_MONITORING2_ENABLE'] = 'false'

launch_description.add_action(ExecuteProcess(
cmd=publisher_cmd,
Expand All @@ -57,6 +59,8 @@ def generate_test_description():
subscriber_env['ROS_SECURITY_ENABLE'] = '@SUBSCRIBER_ROS_SECURITY_ENABLE@'
subscriber_env['ROS_SECURITY_STRATEGY'] = '@SUBSCRIBER_ROS_SECURITY_STRATEGY@'
subscriber_env['ROS_SECURITY_KEYSTORE'] = '@SUBSCRIBER_ROS_SECURITY_KEYSTORE@'
if '@SUBSCRIBER_RMW@' == 'rmw_connextdds':
subscriber_env['RTI_MONITORING2_ENABLE'] = 'false'

subscriber_process = ExecuteProcess(
cmd=subscriber_cmd,
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