Make integration test optional

Since the simulation doesn't shutdown cleanly, we do not want to leave behind a dangling simulation after running a colcon build.

.github/workflows/reusable_ici.yml

@@ -76,6 +76,7 @@ jobs:
           UPSTREAM_WORKSPACE: ${{ inputs.upstream_workspace }}
           ROS_DISTRO: ${{ inputs.ros_distro }}
           ROS_REPO: ${{ inputs.ros_repo }}
+          CMAKE_ARGS: -DUR_SIM_INTEGRATION_TESTS=ON
       - name: prepare target_ws for cache
         if: ${{ always() && ! matrix.env.CCOV }}
         run: |

ur_simulation_gz/CMakeLists.txt

@@ -3,6 +3,13 @@ project(ur_simulation_gz)
 
 find_package(ament_cmake REQUIRED)
 
+# Default to off as starting gzsim doesn't shut down correctly at the moment
+option(
+  UR_SIM_INTEGRATION_TESTS
+  "Run ur_simulation_gz integration tests"
+  OFF
+)
+
 install(DIRECTORY config launch urdf
   DESTINATION share/${PROJECT_NAME}
 )
@@ -11,10 +18,12 @@ if(BUILD_TESTING)
   find_package(launch_testing_ament_cmake)
   find_package(ament_cmake_pytest REQUIRED)
 
-  add_launch_test(test/test_gz.py
-    TIMEOUT
-      180
-  )
+  if(${UR_SIM_INTEGRATION_TESTS})
+    add_launch_test(test/test_gz.py
+      TIMEOUT
+        180
+    )
+  endif()
   ament_add_pytest_test(description test/test_description.py)
 endif()