From df209eb260aea84ae533f2d99a9b6d3adbac6716 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 18 Dec 2024 19:47:29 +0000
Subject: [PATCH] Use pytest again, does coverage work?

---
 controller_manager/CMakeLists.txt                        | 9 ++-------
 controller_manager/package.xml                           | 3 +--
 controller_manager/test/test_ros2_control_node_launch.py | 2 ++
 3 files changed, 5 insertions(+), 9 deletions(-)

diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
index 15748c5551..1b0f308613 100644
--- a/controller_manager/CMakeLists.txt
+++ b/controller_manager/CMakeLists.txt
@@ -237,15 +237,10 @@ if(BUILD_TESTING)
     controller_manager_msgs
   )
 
-  find_package(ament_cmake_ros REQUIRED)
-  find_package(launch_testing_ament_cmake REQUIRED)
+  find_package(ament_cmake_pytest REQUIRED)
   install(FILES test/test_ros2_control_node.yaml
     DESTINATION test)
-  function(add_ros_isolated_launch_test path)
-    set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
-    add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
-  endfunction()
-  add_ros_isolated_launch_test(test/test_ros2_control_node_launch.py)
+  ament_add_pytest_test(test_ros2_control_node test/test_ros2_control_node_launch.py)
 endif()
 
 install(
diff --git a/controller_manager/package.xml b/controller_manager/package.xml
index 57a0e31693..48cb29b14b 100644
--- a/controller_manager/package.xml
+++ b/controller_manager/package.xml
@@ -32,9 +32,8 @@
   <depend>generate_parameter_library</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
-  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>hardware_interface_testing</test_depend>
-  <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>launch_testing</test_depend>
   <test_depend>launch</test_depend>
diff --git a/controller_manager/test/test_ros2_control_node_launch.py b/controller_manager/test/test_ros2_control_node_launch.py
index e82246ac50..b382d3b09d 100644
--- a/controller_manager/test/test_ros2_control_node_launch.py
+++ b/controller_manager/test/test_ros2_control_node_launch.py
@@ -28,6 +28,7 @@
 #
 # Author: Christoph Froehlich
 
+import pytest
 import unittest
 import os
 
@@ -49,6 +50,7 @@
 
 
 # Executes the given launch file and checks if all nodes can be started
+@pytest.mark.launch_test
 def generate_test_description():
 
     robot_controllers = os.path.join(