From 183a6b7474b7fac69837b53285454e5ec00c84a1 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Mon, 16 Dec 2024 12:09:04 +0000
Subject: [PATCH] Use ament_cmake_ros

---
 example_13/CMakeLists.txt                   | 9 ++++++++-
 example_13/package.xml                      | 7 ++++++-
 example_13/test/test_three_robots_launch.py | 4 +---
 3 files changed, 15 insertions(+), 5 deletions(-)

diff --git a/example_13/CMakeLists.txt b/example_13/CMakeLists.txt
index 06aec8e9d..e63aa68a5 100644
--- a/example_13/CMakeLists.txt
+++ b/example_13/CMakeLists.txt
@@ -34,11 +34,18 @@ install(
 )
 
 if(BUILD_TESTING)
+  find_package(ament_cmake_ros REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
   find_package(ament_cmake_pytest REQUIRED)
 
   ament_add_pytest_test(example_13_urdf_xacro test/test_urdf_xacro.py)
   ament_add_pytest_test(view_example_13_launch test/test_view_robot_launch.py)
-  ament_add_pytest_test(run_example_13_launch test/test_three_robots_launch.py)
+
+  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_three_robots_launch.py)
 endif()
 
 ## EXPORTS
diff --git a/example_13/package.xml b/example_13/package.xml
index 0cc8f4a59..9e0af6f60 100644
--- a/example_13/package.xml
+++ b/example_13/package.xml
@@ -31,8 +31,13 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>launch_testing_ros</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>launch_ros</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_testing</test_depend>
+  <test_depend>launch</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
+  <test_depend>rclpy</test_depend>
   <test_depend>ros2_control_demo_testing</test_depend>
   <test_depend>xacro</test_depend>
 
diff --git a/example_13/test/test_three_robots_launch.py b/example_13/test/test_three_robots_launch.py
index 9e0fed689..eaaa12ac1 100644
--- a/example_13/test/test_three_robots_launch.py
+++ b/example_13/test/test_three_robots_launch.py
@@ -29,7 +29,6 @@
 # Author: Christoph Froehlich
 
 import os
-import pytest
 import unittest
 import subprocess
 
@@ -48,8 +47,7 @@
 )
 
 
-# Executes the given launch file and checks if all nodes can be started
-@pytest.mark.rostest
+# Executes the given launch file
 def generate_test_description():
     launch_include = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(