From 72d7d65d688620f0ff737564d83253149fe9587e Mon Sep 17 00:00:00 2001
From: Yadunund <yadunund@gmail.com>
Date: Fri, 8 Aug 2025 15:20:53 -0700
Subject: [PATCH 1/3] Switch to rmw_test_fixture for isolated testing

Signed-off-by: Yadunund <yadunund@gmail.com>
---
 rclcpp/package.xml                |  3 +--
 rclcpp/test/rclcpp/CMakeLists.txt | 16 ++++------------
 2 files changed, 5 insertions(+), 14 deletions(-)

diff --git a/rclcpp/package.xml b/rclcpp/package.xml
index 385ecd57b4..666212d48c 100644
--- a/rclcpp/package.xml
+++ b/rclcpp/package.xml
@@ -47,9 +47,8 @@
   <depend>statistics_msgs</depend>
   <depend>tracetools</depend>
 
-  <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_cmake_google_benchmark</test_depend>
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>mimick_vendor</test_depend>
diff --git a/rclcpp/test/rclcpp/CMakeLists.txt b/rclcpp/test/rclcpp/CMakeLists.txt
index 6033ae2346..8eabe3c889 100644
--- a/rclcpp/test/rclcpp/CMakeLists.txt
+++ b/rclcpp/test/rclcpp/CMakeLists.txt
@@ -662,32 +662,24 @@ endif()
 function(test_on_all_rmws)
   set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
 
-  # If the rmw_implementation is rmw_zenoh_cpp, run the tests with multicast discovery enabled.
-  # Note: This is a temporary change that will be reverted before we branch into Kilted.
-  if(rmw_implementation STREQUAL "rmw_zenoh_cpp")
-    list(APPEND rmw_implementation_env_var
-      ZENOH_CONFIG_OVERRIDE=scouting/multicast/enabled=true
-    )
-  endif()
-
-  ament_add_gmock_test(test_qos_event
+  ament_add_ros_isolated_gmock(test_qos_event
     TEST_NAME test_qos_event${target_suffix}
     ENV ${rmw_implementation_env_var}
   )
   ament_add_test_label(test_qos_event${target_suffix} mimick)
 
-  ament_add_gmock_test(test_generic_pubsub
+  ament_add_ros_isolated_gmock(test_generic_pubsub
     TEST_NAME test_generic_pubsub${target_suffix}
     ENV ${rmw_implementation_env_var}
   )
 
-  ament_add_gmock_test(test_add_callback_groups_to_executor
+  ament_add_ros_isolated_gmock(test_add_callback_groups_to_executor
     TEST_NAME test_add_callback_groups_to_executor${target_suffix}
     ENV ${rmw_implementation_env_var}
     TIMEOUT 120
   )
 
-  ament_add_gmock_test(test_subscription_content_filter
+  ament_add_ros_isolated_gmock(test_subscription_content_filter
     TEST_NAME test_subscription_content_filter${target_suffix}
     ENV ${rmw_implementation_env_var}
     TIMEOUT 120

From 4c7178313f45c0cc0299fdd96b3531fcb9aef31a Mon Sep 17 00:00:00 2001
From: Yadunund <yadunund@gmail.com>
Date: Thu, 21 Aug 2025 17:45:51 +0000
Subject: [PATCH 2/3] Fix macro name

Signed-off-by: Yadunund <yadunund@gmail.com>
---
 rclcpp/test/rclcpp/CMakeLists.txt | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/rclcpp/test/rclcpp/CMakeLists.txt b/rclcpp/test/rclcpp/CMakeLists.txt
index 8eabe3c889..b9553b47f3 100644
--- a/rclcpp/test/rclcpp/CMakeLists.txt
+++ b/rclcpp/test/rclcpp/CMakeLists.txt
@@ -662,24 +662,24 @@ endif()
 function(test_on_all_rmws)
   set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
 
-  ament_add_ros_isolated_gmock(test_qos_event
+  ament_add_ros_isolated_gmock_test(test_qos_event
     TEST_NAME test_qos_event${target_suffix}
     ENV ${rmw_implementation_env_var}
   )
   ament_add_test_label(test_qos_event${target_suffix} mimick)
 
-  ament_add_ros_isolated_gmock(test_generic_pubsub
+  ament_add_ros_isolated_gmock_test(test_generic_pubsub
     TEST_NAME test_generic_pubsub${target_suffix}
     ENV ${rmw_implementation_env_var}
   )
 
-  ament_add_ros_isolated_gmock(test_add_callback_groups_to_executor
+  ament_add_ros_isolated_gmock_test(test_add_callback_groups_to_executor
     TEST_NAME test_add_callback_groups_to_executor${target_suffix}
     ENV ${rmw_implementation_env_var}
     TIMEOUT 120
   )
 
-  ament_add_ros_isolated_gmock(test_subscription_content_filter
+  ament_add_ros_isolated_gmock_test(test_subscription_content_filter
     TEST_NAME test_subscription_content_filter${target_suffix}
     ENV ${rmw_implementation_env_var}
     TIMEOUT 120

From b5d1c5d8ee741ffb23af33ebbc76eeb65c19e4e1 Mon Sep 17 00:00:00 2001
From: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Date: Fri, 21 Nov 2025 11:17:52 +0100
Subject: [PATCH 3/3] Restored dependency

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
---
 rclcpp/package.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/rclcpp/package.xml b/rclcpp/package.xml
index 666212d48c..551969453f 100644
--- a/rclcpp/package.xml
+++ b/rclcpp/package.xml
@@ -48,6 +48,7 @@
   <depend>tracetools</depend>
 
   <test_depend>ament_cmake_google_benchmark</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>