Use main function instead of global variable to setup the test environment.

[evshary]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	-
Primary OS tested on	Ubuntu
Robotic platform tested on	-
Does this PR contain AI generated software?	No

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Description of contribution in a few bullet points

Now the unit test relies on using global variables to setup the environment.
For example,

navigation2/nav2_planner/test/test_dynamic_parameters.cpp

Line 60 in 4694386

RclCppFixture g_rclcppfixture;

I think it would be better to use the main function instead.

We discovered that while testing rmw_zenoh.
Due to the issue, rmw_zenoh couldn't shutdown in atexit stage. That means calling shutdown in the destructor of a global variable will cause panic.
We believe it would be better to avoid using global variables.

Here is the list of affected tests: ZettaScaleLabs/rmw_zenoh#54

Description of documentation updates required from your changes

Not required

Description of how this change was tested

Run the CI test.

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Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

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[SteveMacenski]

@evshary thanks for the PR!

I broadly speaking agree and approve, though I'd like an explanation for the changes in nav2_behavior_tree/test/plugins/action/test_remove_in_collision_goals_action.cpp which don't match the same changes made in the other files.

Otherwise, LGTM and happy to merge once I understand why only this one test is otherwise adjusted

[evshary]

Hi @SteveMacenski

Thank you for the review! Yes, a more detailed explanation for that should be better.
Originally, RemoveInCollisionGoalsTestFixture is used to initialize/clean the test environment by static void SetUpTestCase() and static void TearDownTestCase(). However, the fixture will touch the rclcpp::Node and destruct in atexit stage because it's a static variable.

In rmw_zenoh, there is a limitation in that we can't run anything in the atexit stage because some context is no longer available, and it will panic. So to avoid initializing/cleaning the test environment with static, I refactored the class and only initialized/cleaned it inside the main function.

Please let me know if you want this in a separate PR or you have any concern on this.

[YuanYuYuan]

Hi @evshary! Regarding the fix on nav2_behavior_tree/test/plugins/action/test_remove_in_collision_goals_action.cpp, I believe this patch could be a solution.

diff --git a/nav2_behavior_tree/test/plugins/action/test_remove_in_collision_goals_action.cpp b/nav2_behavior_tree/test/plugins/action/test_remove_in_collision_goals_action.cpp
index 307bd6e3..ea750fe4 100644
--- a/nav2_behavior_tree/test/plugins/action/test_remove_in_collision_goals_action.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_remove_in_collision_goals_action.cpp
@@ -106,6 +106,7 @@ public:
     config_ = nullptr;
     node_.reset();
     success_server_.reset();
+    failure_server_.reset();
     factory_.reset();
   }

[SteveMacenski]

@evshary can you fix the merge conflict? Then happy to merge this in

Thanks for the help to make this work well with Zenoh!

[mergify]

This pull request is in conflict. Could you fix it @evshary?

[evshary]

@SteveMacenski It's resolved now. Hope we can make rmw_zenoh pass all the tests in navigation2 in the near future 😄