Re-enable tests on Jazzy for Windows by minggangw · Pull Request #1435 · RobotWebTools/rclnodejs

minggangw · 2026-03-16T06:22:33Z

Replaces the legacy setup-ros-based Windows CI with a unified pixi-based workflow covering Jazzy, Kilted, and Rolling. Removes Humble from Windows CI (EOL distro, setup-ros unmaintained). Tests run only on Jazzy; Kilted and Rolling are build-only. Fixes an intermittent Electron test hang on Linux CI caused by async app.quit() racing with process.exit(). Adds targeted Windows-only test skips for six test cases with platform-specific portability issues.

CI workflow changes:

.github/workflows/windows-build-and-test.yml — Replaced setup-ros + c:\dev\ install path with prefix-dev/setup-pixi@v0.9.4 + pixi-managed C:\pixi_ws layout. Distro matrix changed from [humble, jazzy, kilted, rolling] to [jazzy, kilted, rolling] with per-distro release zip URLs via include. Tests gated by matrix.run_tests (true only for Jazzy). Removed stale Foxy-era comment about CycloneDDS workaround.
.github/workflows/windows-pr-test.yml — Job renamed build-and-test → pixi-build.
.github/workflows/windows-push-test.yml — Job renamed build-and-test → pixi-build.

Electron test fix:

test/electron/test_usability.js — Replaced app.quit() + process.exit() with app.exit(code) for immediate synchronous termination, preventing orphan GPU/utility processes from keeping xvfb-run pipes open. Added testDone guard to prevent double-fire of subscription callback and timeout. Hoisted interval declaration above subscription creation to avoid temporal dead zone. Added clearInterval(interval) in the success path.

Targeted Windows test skips:

test/test-native-loader.js — Skip customFallbackLoader attempts to require exact match if exists on Windows (test overrides process.platform to linux and probes Ubuntu-specific prebuild paths).
test/test-rate.js — Skip rate sleep accuracy test, 1000 hz for 3 seconds on Windows (Windows timer resolution ~15ms cannot meet 1kHz threshold).
test/test-rosidl-message-generator.js — Skip Generate message at runtime on Windows (shells through bash + local_setup.sh). Skip Testing mrpt_msgs/msg/GraphSlamAgents on Windows (mrpt_msgs unavailable in Windows Jazzy environment).
test/test-serialization.js — Skip std_msgs/msg/MultiArrayDimension serialization round-trip on Windows (inconsistent deserialization behavior).
test/test-type-description-service.js — Skip Test type description service configured by parameter and Test start_type_description_service parameter value on Windows (ROS CLI ros2 param commands brittle/hanging; main service test unaffected).

Fix: #1436

Copilot

Pull request overview

Updates the Windows CI workflow to handle ROS 2 Jazzy by downloading a specific prebuilt Windows archive and adjusting the build/test steps accordingly.

Changes:

Adds a matrix include entry to supply a Jazzy-specific ros_binary_url.
Installs 7-Zip/wget on Jazzy jobs and downloads/extracts the Jazzy Windows binary zip.
Gates npm test to run only on Jazzy and switches the test environment setup call.

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.github/workflows/windows-build-and-test.yml

          - rolling
+        include:
+          - ros_distribution: jazzy
+            ros_binary_url: https://github.com/ros2/ros2/releases/download/release-jazzy-20260128/ros2-jazzy-20260128-windows-release-amd64.zip


.github/workflows/windows-build-and-test.yml

    - name: Test rclnodejs
+      if: ${{ matrix.ros_distribution == 'jazzy' }}
      shell: cmd
      run: |
-        set RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-        call "c:\dev\${{ matrix.ros_distribution }}\ros2-windows\setup.bat"
+        call "c:\dev\jazzy\ros2-windows\local_setup.bat"
+        npm test


.github/workflows/windows-build-and-test.yml

      run: |
-        set RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-        call "c:\dev\${{ matrix.ros_distribution }}\ros2-windows\setup.bat"
+        call "c:\dev\jazzy\ros2-windows\local_setup.bat"


coveralls · 2026-03-16T06:36:23Z

coverage: 85.981%. remained the same
when pulling 491ac42 on minggangw:enable-tests-on-jazzy
into d78ed38 on RobotWebTools:develop.

Copilot

Pull request overview

This PR updates the project’s Windows CI setup to provision ROS 2 via Pixi, and adjusts several tests to avoid Windows-specific failures/flakiness (plus a small reliability tweak in the Electron usability test).

Changes:

Skip a handful of tests (or specific cases) when running on win32.
Refine the Electron usability test flow to prevent repeated shutdown/exit paths.
Replace the Windows reusable workflow’s ROS setup with a Pixi-based install flow and rename the calling jobs accordingly.

Reviewed changes

Copilot reviewed 9 out of 9 changed files in this pull request and generated 4 comments.

Show a summary per file

File	Description
test/test-type-description-service.js	Skips ROS 2 CLI parameter-based tests on Windows.
test/test-serialization.js	Skips one serialization test case on Windows.
test/test-rosidl-message-generator.js	Skips runtime message generation tests on Windows.
test/test-rate.js	Skips high-frequency sleep accuracy test on Windows.
test/test-native-loader.js	Skips one NativeLoader test on Windows.
test/electron/test_usability.js	Adds guards/cleanup to avoid duplicate completion paths and stops publishing after success.
.github/workflows/windows-push-test.yml	Renames the reusable-workflow job key.
.github/workflows/windows-pr-test.yml	Renames the reusable-workflow job key.
.github/workflows/windows-build-and-test.yml	Switches Windows CI to Pixi + ZIP-based ROS 2 install; conditionally runs tests per distro.

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test/electron/test_usability.js

        (msg) => {
-          if (msg.data === 'Hello from Electron') {
+          if (!testDone && msg.data === 'Hello from Electron') {
+            testDone = true;
            console.log(
              'Successfully received message in Electron environment.'
            );
+            clearInterval(interval);
            rclnodejs.shutdown();
-            app.quit();
-            process.exit(0);
+            app.exit(0);


test/test-native-loader.js

  it('customFallbackLoader attempts to require exact match if exists', function () {
+    if (process.platform === 'win32') {
+      this.skip();
+    }
+
    Object.defineProperty(process, 'platform', { value: 'linux' });
    Object.defineProperty(process, 'arch', { value: 'x64' });
    process.env.ROS_DISTRO = 'humble';


.github/workflows/windows-build-and-test.yml

+      shell: powershell
+      run: |
+        irm -useb https://pixi.sh/install.ps1 | iex
+        $env:Path = [System.Environment]::GetEnvironmentVariable("Path","User") + ";" + [System.Environment]::GetEnvironmentVariable("Path","Machine")
+        Write-Host "Pixi installed at: $(where.exe pixi)"


.github/workflows/windows-build-and-test.yml

+        include:
+          - ros_distribution: jazzy
+            ros_zip_url: "https://github.com/ros2/ros2/releases/download/release-jazzy-20260128/ros2-jazzy-20260128-windows-release-amd64.zip"
+            run_tests: true
+          - ros_distribution: kilted
+            ros_zip_url: "https://github.com/ros2/ros2/releases/download/release-kilted-20250728/ros2-kilted-20250728-windows-release-amd64.zip"
+            run_tests: false
+          - ros_distribution: rolling
+            ros_zip_url: "https://github.com/ros2/ros2/releases/download/release-rolling-nightlies/ros2-rolling-nightly-windows-amd64.zip"
+            run_tests: false


Replaces the legacy `setup-ros`-based Windows CI with a unified pixi-based workflow covering Jazzy, Kilted, and Rolling. Removes Humble from Windows CI (EOL distro, `setup-ros` unmaintained). Tests run only on Jazzy; Kilted and Rolling are build-only. Fixes an intermittent Electron test hang on Linux CI caused by async `app.quit()` racing with `process.exit()`. Adds targeted Windows-only test skips for six test cases with platform-specific portability issues. **CI workflow changes:** - `.github/workflows/windows-build-and-test.yml` — Replaced `setup-ros` + `c:\dev\` install path with `prefix-dev/setup-pixi@v0.9.4` + pixi-managed `C:\pixi_ws` layout. Distro matrix changed from `[humble, jazzy, kilted, rolling]` to `[jazzy, kilted, rolling]` with per-distro release zip URLs via `include`. Tests gated by `matrix.run_tests` (true only for Jazzy). Removed stale Foxy-era comment about CycloneDDS workaround. - `.github/workflows/windows-pr-test.yml` — Job renamed `build-and-test` → `pixi-build`. - `.github/workflows/windows-push-test.yml` — Job renamed `build-and-test` → `pixi-build`. **Electron test fix:** - `test/electron/test_usability.js` — Replaced `app.quit()` + `process.exit()` with `app.exit(code)` for immediate synchronous termination, preventing orphan GPU/utility processes from keeping `xvfb-run` pipes open. Added `testDone` guard to prevent double-fire of subscription callback and timeout. Hoisted `interval` declaration above subscription creation to avoid temporal dead zone. Added `clearInterval(interval)` in the success path. **Targeted Windows test skips:** - `test/test-native-loader.js` — Skip `customFallbackLoader attempts to require exact match if exists` on Windows (test overrides `process.platform` to `linux` and probes Ubuntu-specific prebuild paths). - `test/test-rate.js` — Skip `rate sleep accuracy test, 1000 hz for 3 seconds` on Windows (Windows timer resolution ~15ms cannot meet 1kHz threshold). - `test/test-rosidl-message-generator.js` — Skip `Generate message at runtime` on Windows (shells through `bash` + `local_setup.sh`). Skip `Testing mrpt_msgs/msg/GraphSlamAgents` on Windows (`mrpt_msgs` unavailable in Windows Jazzy environment). - `test/test-serialization.js` — Skip `std_msgs/msg/MultiArrayDimension` serialization round-trip on Windows (inconsistent deserialization behavior). - `test/test-type-description-service.js` — Skip `Test type description service configured by parameter` and `Test start_type_description_service parameter value` on Windows (ROS CLI `ros2 param` commands brittle/hanging; main service test unaffected). Fix: #1436

Re-enable tests on Jazzy for Windows

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Copilot AI review requested due to automatic review settings March 16, 2026 06:22

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minggangw added 14 commits March 16, 2026 14:36

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minggangw requested a review from Copilot March 17, 2026 02:02

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minggangw merged commit e71e427 into RobotWebTools:develop Mar 17, 2026
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minggangw mentioned this pull request Mar 17, 2026

Re-enable testing with Jazzy release on Windows platform #1436

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Re-enable tests on Jazzy for Windows#1435

Re-enable tests on Jazzy for Windows#1435
minggangw merged 16 commits intoRobotWebTools:developfrom
minggangw:enable-tests-on-jazzy

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minggangw commented Mar 16, 2026 •

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