kill gazebo

src/sam_bot_nav2_gz/launch/display.launch.py

@@ -70,10 +70,6 @@ def generate_launch_description():
         ],
     )
 
-    # gazebo have to be executed with shell=False, or test_launch won't terminate it
-    #   see: https://github.com/ros2/launch/issues/545
-    # This code is form taken ros_gz_sim and modified to work with shell=False
-    #   see: https://github.com/gazebosim/ros_gz/blob/ros2/ros_gz_sim/launch/gz_sim.launch.py.in
     gz_env = {
         'GZ_SIM_SYSTEM_PLUGIN_PATH': ':'.join([
             os.environ.get('GZ_SIM_SYSTEM_PLUGIN_PATH', ''),
@@ -86,14 +82,12 @@ def generate_launch_description():
             cmd=[FindExecutable(name="gz"), 'sim', '-r', '-v', gz_verbosity, '-s', '--headless-rendering', world_path],
             output='screen',
             additional_env=gz_env,
-            shell=False,
         ),
         ExecuteProcess(
             condition=launch.conditions.UnlessCondition(run_headless),
             cmd=[FindExecutable(name="gz"), 'sim', '-r', '-v', gz_verbosity, world_path],
             output='screen',
             additional_env=gz_env,
-            shell=False,
         )
     ]
 

src/sam_bot_nav2_gz/test/test_bringup.launch.py

@@ -8,6 +8,7 @@
 import launch_testing.actions
 import launch_testing.markers
 import pytest
+from artefacts_toolkit.gazebo import gz
 
 
 # This function specifies the processes to be run for our test
@@ -44,3 +45,10 @@ def test_read_stdout(self, proc_output):
         # It captures the outputs of the processes launched in generate_test_description()
         # Refer to the documentation for further details.
         proc_output.assertWaitFor("Creating bond timer", timeout=300, stream="stdout")
+
+
+@launch_testing.post_shutdown_test()
+class TestProcOutputAfterShutdown(unittest.TestCase):
+    def test_exit_code(self, rosbag_filepath):
+      print("######")
+      gz.kill_gazebo()

src/sam_bot_nav2_gz/test/test_reach_goal.launch.py

@@ -97,6 +97,7 @@ def test_read_stdout(self, proc_output):
 class TestProcOutputAfterShutdown(unittest.TestCase):
     def test_exit_code(self, rosbag_filepath):
         print(rosbag_filepath)
+
         make_chart(
             rosbag_filepath,
             "/odom.pose.pose.position.x",