ament_cmake binarydeb job cannot find own package for tests

[v-lopez]

I am releasing a repository in our private buildfarm using bloom, and the dh_auto_test is failing because my package has tests built with launch_test that rely on launching a node from the package being released.

The release continues afterwards because test failures are ignored in dh_auto_test, but I would like to understand the problem.

The test run fine on prerelease jobs.

The test part of my CMakeLists looks like this:

if(BUILD_TESTING)
   ..... 
   # find dependencies here
   .....
    ament_add_gtest_executable(ros2_services_test test/ros2_services_test.cpp)
    target_link_libraries(ros2_services_test register_ros2_services)

    add_launch_test(
      test/ros2_services_test.launch.py
      TARGET "ros2_services_test-test"
    )
endif()

And part of the ros2_services_test.launch.py:

def generate_test_description():
    # dut = device under test, aka the actual test
    grpc_bridge_node = Node(package='my_pkg',
                            executable='ros2_bridge_node',
                            output='both',
                            env=proc_env,)
    dut_process = Node(package='my_pkg',
                       executable='ros2_services_test',
                       output='both',
                       env=proc_env,)
    return LaunchDescription([
        grpc_bridge_node,
        dut_process,
        launch_testing.actions.ReadyToTest(),
    ]), {'dut_process': dut_process}

Finally, the test failure in the binarydeb:

 1: Test command: /usr/bin/python3 "-u" "/opt/ros/galactic/share/ament_cmake_test/cmake/run_test.py" "/tmp/binarydeb/ros-galactic-my-pkg-0.0.7/.obj-x86_64-linux-gnu/test_results/my_pkg/ros2_services_test-test.xunit.xml" "--package-name" "my_pkg" "--output-file" "/tmp/binarydeb/ros-galactic-my-pkg-0.0.7/.obj-x86_64-linux-gnu/launch_test/ros2_services_test-test.txt" "--command" "/usr/bin/python3" "-m" "launch_testing.launch_test" "/tmp/binarydeb/ros-galactic-my-pkg-0.0.7/test/ros2_services_test.launch.py" "--junit-xml=/tmp/binarydeb/ros-galactic-my-pkg-0.0.7/.obj-x86_64-linux-gnu/test_results/my_pkg/ros2_services_test-test.xunit.xml" "--package-name=my_pkg"
 1: Test timeout computed to be: 60
 1: -- run_test.py: invoking following command in '/tmp/binarydeb/ros-galactic-my-pkg-0.0.7/.obj-x86_64-linux-gnu':
 1:  - /usr/bin/python3 -m launch_testing.launch_test /tmp/binarydeb/ros-galactic-my-pkg-0.0.7/test/ros2_services_test.launch.py --junit-xml=/tmp/binarydeb/ros-galactic-my-pkg-0.0.7/.obj-x86_64-linux-gnu/test_results/my_pkg/ros2_services_test-test.xunit.xml --package-name=my_pkg
 1: [INFO] [launch]: All log files can be found below /home/buildfarm/.ros/log/2022-09-14-09-30-04-374031-agent2-389
 1: [INFO] [launch]: Default logging verbosity is set to INFO
 1: ERROR:asyncio:Task exception was never retrieved
 1: future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py:226> exception=PackageNotFoundError("package 'my_pkg' not found, searching: ['/opt/ros/galactic']")>
 1: Traceback (most recent call last):
 1:   File "/opt/ros/galactic/lib/python3.8/site-packages/ament_index_python/packages.py", line 50, in get_package_prefix
 1:     content, package_prefix = get_resource('packages', package_name)
 1:   File "/opt/ros/galactic/lib/python3.8/site-packages/ament_index_python/resources.py", line 48, in get_resource
 1:     raise LookupError(
 1: LookupError: Could not find the resource 'my_pkg' of type 'packages'
 1: 
 1: During handling of the above exception, another exception occurred:
 1: 
 1: Traceback (most recent call last):
 1:   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
 1:     await self.__process_event(next_event)
 1:   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
 1:     visit_all_entities_and_collect_futures(entity, self.__context))
 1:   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
 1:     futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
 1:   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
 1:     futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
 1:   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
 1:     futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
 1:   [Previous line repeated 1 more time]
 1:   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
 1:     sub_entities = entity.visit(context)
 1:   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/action.py", line 108, in visit
 1:     return self.execute(context)
 1:   File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/actions/node.py", line 484, in execute
 1:     ret = super().execute(context)
 1:   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/actions/execute_process.py", line 837, in execute
 1:     self.__expand_substitutions(context)
 1:   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/actions/execute_process.py", line 681, in __expand_substitutions
 1:     cmd = [perform_substitutions(context, x) for x in self.__cmd]
 1:   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/actions/execute_process.py", line 681, in <listcomp>
 1:     cmd = [perform_substitutions(context, x) for x in self.__cmd]
 1:   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
 1:     return ''.join([context.perform_substitution(sub) for sub in subs])
 1:   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
 1:     return ''.join([context.perform_substitution(sub) for sub in subs])
 1:   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_context.py", line 197, in perform_substitution
 1:     return substitution.perform(self)
 1:   File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/substitutions/executable_in_package.py", line 76, in perform
 1:     package_prefix = super().perform(context)
 1:   File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/substitutions/find_package.py", line 79, in perform
 1:     result = self.find(package)
 1:   File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/substitutions/find_package.py", line 96, in find
 1:     return get_package_prefix(package_name)
 1:   File "/opt/ros/galactic/lib/python3.8/site-packages/ament_index_python/packages.py", line 52, in get_package_prefix
 1:     raise PackageNotFoundError(
 1: ament_index_python.packages.PackageNotFoundError: "package 'my_pkg' not found, searching: ['/opt/ros/galactic']"
 1: Processes under test stopped before tests completed
 1: -- run_test.py: return code 1
 1: -- run_test.py: verify result file '/tmp/binarydeb/ros-galactic-my-pkg-0.0.7/.obj-x86_64-linux-gnu/test_results/my_pkg/ros2_services_test-test.xunit.xml'
 1/1 Test #1: ros2_services_test-test ..........***Failed    0.30 sec
 -- run_test.py: invoking following command in '/tmp/binarydeb/ros-galactic-my-pkg-0.0.7/.obj-x86_64-linux-gnu':
  - /usr/bin/python3 -m launch_testing.launch_test /tmp/binarydeb/ros-galactic-my-pkg-0.0.7/test/ros2_services_test.launch.py --junit-xml=/tmp/binarydeb/ros-galactic-my-pkg-0.0.7/.obj-x86_64-linux-gnu/test_results/my_pkg/ros2_services_test-test.xunit.xml --package-name=my_pkg
 [INFO] [launch]: All log files can be found below /home/buildfarm/.ros/log/2022-09-14-09-30-04-374031-agent2-389
 [INFO] [launch]: Default logging verbosity is set to INFO
 ERROR:asyncio:Task exception was never retrieved
 future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py:226> exception=PackageNotFoundError("package 'my_pkg' not found, searching: ['/opt/ros/galactic']")>
 Traceback (most recent call last):
   File "/opt/ros/galactic/lib/python3.8/site-packages/ament_index_python/packages.py", line 50, in get_package_prefix
     content, package_prefix = get_resource('packages', package_name)
   File "/opt/ros/galactic/lib/python3.8/site-packages/ament_index_python/resources.py", line 48, in get_resource
     raise LookupError(
 LookupError: Could not find the resource 'my_pkg' of type 'packages'
 
 During handling of the above exception, another exception occurred:
 
 Traceback (most recent call last):
   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
     await self.__process_event(next_event)
   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
     visit_all_entities_and_collect_futures(entity, self.__context))
   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
     futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
     futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
     futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
   [Previous line repeated 1 more time]
   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
     sub_entities = entity.visit(context)
   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/action.py", line 108, in visit
     return self.execute(context)
   File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/actions/node.py", line 484, in execute
     ret = super().execute(context)
   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/actions/execute_process.py", line 837, in execute
     self.__expand_substitutions(context)
   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/actions/execute_process.py", line 681, in __expand_substitutions
     cmd = [perform_substitutions(context, x) for x in self.__cmd]
   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/actions/execute_process.py", line 681, in <listcomp>
     cmd = [perform_substitutions(context, x) for x in self.__cmd]
   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
     return ''.join([context.perform_substitution(sub) for sub in subs])
   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
     return ''.join([context.perform_substitution(sub) for sub in subs])
   File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_context.py", line 197, in perform_substitution
     return substitution.perform(self)
   File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/substitutions/executable_in_package.py", line 76, in perform
     package_prefix = super().perform(context)
   File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/substitutions/find_package.py", line 79, in perform
     result = self.find(package)
   File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/substitutions/find_package.py", line 96, in find
     return get_package_prefix(package_name)
   File "/opt/ros/galactic/lib/python3.8/site-packages/ament_index_python/packages.py", line 52, in get_package_prefix
     raise PackageNotFoundError(
 ament_index_python.packages.PackageNotFoundError: "package 'my_pkg' not found, searching: ['/opt/ros/galactic']"
 Processes under test stopped before tests completed
 -- run_test.py: return code 1
 -- run_test.py: verify result file '/tmp/binarydeb/ros-galactic-my-pkg-0.0.7/.obj-x86_64-linux-gnu/test_results/my_pkg/ros2_services_test-test.xunit.xml'
 
 
 0% tests passed, 1 tests failed out of 1
 
 Total Test time (real) =   0.30 sec
 
 The following tests FAILED:
 Errors while running CTest
 	  1 - ros2_services_test-test (Failed)