Can't load rclcpp::components in containers during test about action-ros-ci HOT 5 CLOSED

I don't think you're supposed to source the workspace before running your tests. This might suggest that you're doing something wrong in your CMakeLists.txt. Does this also happen locally if you don't source your workspace before running your tests?

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I need to do a full clean build of my workspace and have a try locally. I can also already confirm you that I forked this repo, added workspace sourcing, and works.

So I believe that there is need to understand if component registration is something that needs to source the workspace or not. By the way, do you know about packages or test around github that dynamicall load components in CI?

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Yeah, I have no doubt that it works if you source the workspace before testing.

So I believe that there is need to understand if component registration is something that needs to source the workspace or not. By the way, do you know about packages or test around github that dynamicall load components in CI?

Nothing specific comes to mind. If you can reproduce locally, you might want to ask a question on https://answers.ros.org/questions/ or https://robotics.stackexchange.com/ to try to figure out what's missing.

from action-ros-ci.

Yes, not sourcing the workspace causes the components not to appear when issuing the following command:

ros2 component types

I don't think you're supposed to source the workspace before running your tests.

Do you have an explanation to this / are you sure? I mean, I'm fine with keeping a fork to source the workspace, so if you consider this something wrong with my CMake and want to close the issue here no problem, but if you have any sources on this (no pun intended) I'd like to learn more.

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It wasn't mentioned in the docs, but it will soon be mentioned here: https://docs.ros.org/en/rolling/Tutorials/Intermediate/Testing/CLI.html. See this PR: ros2/ros2_documentation#3677.

As for an explanation, colcon test is simply supposed to take care of all of this (i.e., set the right paths, environment variables, etc.). I was told this works fine with test components in the ROS 2 core. You might want to try comparing your code/CMake to this: https://github.com/ros2/rclcpp/tree/rolling/rclcpp_components.

I'll close the issue given that it shouldn't have anything to do with action-ros-ci, but do let me know how it goes/if you're able to fix it.

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