From 01a9261abfa0ed44ef2edb1c76eb0edbeefa9f5c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Sun, 15 Dec 2024 13:19:26 +0100
Subject: [PATCH] Use class methods for rclpy.init/shutdown (#664)

---
 example_1/test/test_rrbot_launch.py           | 23 +++++++++++------
 .../test/test_rrbot_launch_cli_direct.py      | 12 ++++++---
 example_10/test/test_rrbot_launch.py          | 12 ++++++---
 example_11/test/test_carlikebot_launch.py     | 12 ++++++---
 example_12/test/test_rrbot_launch.py          | 25 +++++++++++++------
 example_13/test/test_three_robots_launch.py   | 12 ++++++---
 ...ck_sensors_for_position_feedback_launch.py | 12 ++++++---
 .../test_multi_controller_manager_launch.py   | 12 ++++++---
 .../test/test_rrbot_namespace_launch.py       | 12 ++++++---
 example_2/test/test_diffbot_launch.py         | 12 ++++++---
 ...est_rrbot_system_multi_interface_launch.py | 12 ++++++---
 .../test_rrbot_system_with_sensor_launch.py   | 12 ++++++---
 ...rbot_system_with_external_sensor_launch.py | 12 ++++++---
 .../test_rrbot_modular_actuators_launch.py    | 12 ++++++---
 .../test/test_r6bot_controller_launch.py      | 12 ++++++---
 ...ansmissions_system_position_only_launch.py | 12 ++++++---
 example_9/test/test_rrbot_launch.py           | 12 ++++++---
 17 files changed, 153 insertions(+), 75 deletions(-)

diff --git a/example_1/test/test_rrbot_launch.py b/example_1/test/test_rrbot_launch.py
index ecc66ecf7..30fa7467e 100644
--- a/example_1/test/test_rrbot_launch.py
+++ b/example_1/test/test_rrbot_launch.py
@@ -41,7 +41,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -68,14 +67,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
@@ -91,14 +95,19 @@ def test_check_if_msgs_published(self):
 
 
 class TestFixtureCLI(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_main(self, proc_output):
 
diff --git a/example_1/test/test_rrbot_launch_cli_direct.py b/example_1/test/test_rrbot_launch_cli_direct.py
index cab04cfa8..0aa14fabb 100644
--- a/example_1/test/test_rrbot_launch_cli_direct.py
+++ b/example_1/test/test_rrbot_launch_cli_direct.py
@@ -41,7 +41,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import check_controllers_running
 
 
@@ -62,14 +61,19 @@ def generate_test_description():
 
 
 class TestFixtureCliDirect(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_main(self, proc_output):
 
diff --git a/example_10/test/test_rrbot_launch.py b/example_10/test/test_rrbot_launch.py
index 005ee36e8..e9df25da7 100644
--- a/example_10/test/test_rrbot_launch.py
+++ b/example_10/test/test_rrbot_launch.py
@@ -39,7 +39,6 @@
 from launch_testing.actions import ReadyToTest
 
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -68,14 +67,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_11/test/test_carlikebot_launch.py b/example_11/test/test_carlikebot_launch.py
index 5636eda21..1afb4ff33 100644
--- a/example_11/test/test_carlikebot_launch.py
+++ b/example_11/test/test_carlikebot_launch.py
@@ -40,7 +40,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -67,14 +66,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_12/test/test_rrbot_launch.py b/example_12/test/test_rrbot_launch.py
index 5f716c906..5abbec91a 100644
--- a/example_12/test/test_rrbot_launch.py
+++ b/example_12/test/test_rrbot_launch.py
@@ -41,7 +41,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -68,14 +67,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
@@ -97,10 +101,9 @@ def test_check_if_msgs_published(self):
 # This is our second test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixtureChained(unittest.TestCase):
-
-    def setUp(self):
+    @classmethod
+    def setUpClass(cls):
         rclpy.init()
-        self.node = Node("test_node")
         # Command to run the launch file
         command = [
             "ros2",
@@ -111,9 +114,15 @@ def setUp(self):
         # Execute the command
         subprocess.run(command)
 
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
+
+    def setUp(self):
+        self.node = rclpy.create_node("test_node")
+
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_13/test/test_three_robots_launch.py b/example_13/test/test_three_robots_launch.py
index 0937f3de6..9e0fed689 100644
--- a/example_13/test/test_three_robots_launch.py
+++ b/example_13/test/test_three_robots_launch.py
@@ -41,7 +41,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -68,14 +67,19 @@ def generate_test_description():
 # This is our first test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_14/test/test_rrbot_modular_actuators_without_feedback_sensors_for_position_feedback_launch.py b/example_14/test/test_rrbot_modular_actuators_without_feedback_sensors_for_position_feedback_launch.py
index 9f8158944..b26ee3a40 100644
--- a/example_14/test/test_rrbot_modular_actuators_without_feedback_sensors_for_position_feedback_launch.py
+++ b/example_14/test/test_rrbot_modular_actuators_without_feedback_sensors_for_position_feedback_launch.py
@@ -40,7 +40,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -67,14 +66,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_15/test/test_multi_controller_manager_launch.py b/example_15/test/test_multi_controller_manager_launch.py
index a927fdb6d..a78cfdc78 100644
--- a/example_15/test/test_multi_controller_manager_launch.py
+++ b/example_15/test/test_multi_controller_manager_launch.py
@@ -40,7 +40,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -67,14 +66,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_15/test/test_rrbot_namespace_launch.py b/example_15/test/test_rrbot_namespace_launch.py
index a4e5dfb97..702be9d52 100644
--- a/example_15/test/test_rrbot_namespace_launch.py
+++ b/example_15/test/test_rrbot_namespace_launch.py
@@ -40,7 +40,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -67,14 +66,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_2/test/test_diffbot_launch.py b/example_2/test/test_diffbot_launch.py
index 5f762872b..d84de296a 100644
--- a/example_2/test/test_diffbot_launch.py
+++ b/example_2/test/test_diffbot_launch.py
@@ -40,7 +40,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -67,14 +66,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_3/test/test_rrbot_system_multi_interface_launch.py b/example_3/test/test_rrbot_system_multi_interface_launch.py
index 8f6394df2..9b5529654 100644
--- a/example_3/test/test_rrbot_system_multi_interface_launch.py
+++ b/example_3/test/test_rrbot_system_multi_interface_launch.py
@@ -40,7 +40,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -67,14 +66,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_4/test/test_rrbot_system_with_sensor_launch.py b/example_4/test/test_rrbot_system_with_sensor_launch.py
index d9238acf2..9e5001654 100644
--- a/example_4/test/test_rrbot_system_with_sensor_launch.py
+++ b/example_4/test/test_rrbot_system_with_sensor_launch.py
@@ -40,7 +40,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -67,14 +66,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_5/test/test_rrbot_system_with_external_sensor_launch.py b/example_5/test/test_rrbot_system_with_external_sensor_launch.py
index cce21b560..e965d5ace 100644
--- a/example_5/test/test_rrbot_system_with_external_sensor_launch.py
+++ b/example_5/test/test_rrbot_system_with_external_sensor_launch.py
@@ -40,7 +40,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -67,14 +66,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_6/test/test_rrbot_modular_actuators_launch.py b/example_6/test/test_rrbot_modular_actuators_launch.py
index b48389713..3e8a5e9d4 100644
--- a/example_6/test/test_rrbot_modular_actuators_launch.py
+++ b/example_6/test/test_rrbot_modular_actuators_launch.py
@@ -40,7 +40,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -67,14 +66,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_7/test/test_r6bot_controller_launch.py b/example_7/test/test_r6bot_controller_launch.py
index 42a731020..968f789f1 100644
--- a/example_7/test/test_r6bot_controller_launch.py
+++ b/example_7/test/test_r6bot_controller_launch.py
@@ -40,7 +40,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -67,14 +66,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_8/test/test_rrbot_transmissions_system_position_only_launch.py b/example_8/test/test_rrbot_transmissions_system_position_only_launch.py
index 96ba7d3c9..a16f4d7a7 100644
--- a/example_8/test/test_rrbot_transmissions_system_position_only_launch.py
+++ b/example_8/test/test_rrbot_transmissions_system_position_only_launch.py
@@ -40,7 +40,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -67,14 +66,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")
diff --git a/example_9/test/test_rrbot_launch.py b/example_9/test/test_rrbot_launch.py
index fb2211e1e..6817f0e03 100644
--- a/example_9/test/test_rrbot_launch.py
+++ b/example_9/test/test_rrbot_launch.py
@@ -40,7 +40,6 @@
 
 # import launch_testing.markers
 import rclpy
-from rclpy.node import Node
 from ros2_control_demo_testing.test_utils import (
     check_controllers_running,
     check_if_js_published,
@@ -67,14 +66,19 @@ def generate_test_description():
 # This is our test fixture. Each method is a test case.
 # These run alongside the processes specified in generate_test_description()
 class TestFixture(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
 
     def setUp(self):
-        rclpy.init()
-        self.node = Node("test_node")
+        self.node = rclpy.create_node("test_node")
 
     def tearDown(self):
         self.node.destroy_node()
-        rclpy.shutdown()
 
     def test_node_start(self, proc_output):
         check_node_running(self.node, "robot_state_publisher")