Fix the integration test

test/launch/simple_test_with_virtual_eth.launch.py

@@ -1,3 +1,5 @@
+import unittest
+
 from launch import LaunchDescription
 from launch.actions import (
     DeclareLaunchArgument,
@@ -13,6 +15,7 @@
 )
 from launch_ros.substitutions import FindPackageShare
 import launch_testing
+import launch_testing.asserts
 
 
 def generate_test_description():
@@ -31,9 +34,16 @@ def generate_test_description():
             description="Path to the setup script for creating virtual ethernet interface",
         )
     )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "test_binary_dir",
+            description="Path to the test binary directory (passed by add_ros_test)",
+        )
+    )
 
     # Initialize LaunchConfigurations
     setup_script = LaunchConfiguration("setup_script")
+    test_binary_dir = LaunchConfiguration("test_binary_dir")
 
     # Execute the setup script to create virtual ethernet interface
     setup_script_action = ExecuteProcess(
@@ -42,37 +52,81 @@ def generate_test_description():
         shell=True,
     )
 
-    # Include the elevated permissions 1 DOF launch file
     elevated_permissions_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             [
                 PathJoinSubstitution(
                     [
                         FindPackageShare("synapticon_ros2_control"),
                         "launch",
-                        "elevated_permissions_1_dof.launch.py",
+                        "elevated_permissions_2_dof.launch.py",
                     ]
                 )
             ]
-        )
+        ),
+        launch_arguments={"eth_device": "eno0"}.items(),
+    )
+
+    # The test executable to run (located in the build directory, passed via test_binary_dir)
+    test_controller_manager_integration = ExecuteProcess(
+        cmd=[
+            PathJoinSubstitution(
+                [test_binary_dir, "test_controller_manager_integration"]
+            )
+        ],
+        output="both",
     )
 
-    # Delay the elevated permissions launch after setup script completion
-    delay_elevated_permissions_after_setup = RegisterEventHandler(
+    # Delay the elevated permissions launch and test after setup script completion
+    # The test executable will wait for the controller_manager node internally
+    delay_after_setup = RegisterEventHandler(
         event_handler=OnProcessExit(
             target_action=setup_script_action,
-            on_exit=[elevated_permissions_launch],
+            on_exit=[
+                elevated_permissions_launch,
+                test_controller_manager_integration,
+            ],
         )
     )
 
     nodes = [
         setup_script_action,
-        delay_elevated_permissions_after_setup,
+        delay_after_setup,
         # In tests where all of the procs under tests terminate themselves, it's necessary
         # to add a dummy process not under test to keep the launch alive. launch_test
         # provides a simple launch action that does this:
         launch_testing.util.KeepAliveProc(),
         launch_testing.actions.ReadyToTest(),
     ]
 
-    return LaunchDescription(declared_arguments + nodes)
+    return (
+        LaunchDescription(declared_arguments + nodes),
+        {"test_controller_manager_integration": test_controller_manager_integration},
+    )
+
+
+class TestControllerManagerIntegration(unittest.TestCase):
+    """Active test that waits for the test executable to complete."""
+
+    def test_wait_for_test_completion(
+        self, test_controller_manager_integration, proc_info
+    ):
+        """Wait for the test executable to complete."""
+        # Wait for the gtest process to finish
+        proc_info.assertWaitForShutdown(
+            process=test_controller_manager_integration,
+            timeout=30.0,
+        )
+
+
+@launch_testing.post_shutdown_test()
+class TestProcessOutput(unittest.TestCase):
+    def test_exit_code(self, proc_info):
+        """Check that the test executable finished with exit code 0 or was terminated by SIGINT."""
+        # Accept both clean exit (0) and SIGINT (-2) since launch_testing sends SIGINT
+        # to shut down processes, and the gtest may not have exited before receiving it.
+        launch_testing.asserts.assertExitCodes(
+            proc_info,
+            [launch_testing.asserts.EXIT_OK, -2],
+            process="test_controller_manager_integration",
+        )