Closed
Description
Checklist
- I've read the contribution guidelines.
- I've searched other issues and no duplicate issues were found.
- I've agreed with the maintainers that I can plan this task.
Description
Change the way gtests are run in all packages to ensure they are isolated from each other.
Purpose
The change will prevent tests running in parallel and publishing topics to interfere with each other.
For example, a test A subscribes to the /tf topic while a test B publishes transforms to the /tf topic.
The purpose of this task is to ensure test A and B cannot interfere with each other.
Possible approaches
Replace the CMake commands ament_add_gtest with ament_add_ros_isolated_gtest similarly to what was done in #661
Definition of done
All packages run gtests in isolation.