CI: skip python tests

- with asan
- with clang builds

.github/workflows/ci.yaml

@@ -22,6 +22,7 @@ jobs:
           # - IMAGE: rolling-source
           #   NAME: ccov
           #   TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="--coverage"
+          - IMAGE: rolling-source
           - IMAGE: rolling-source
             CLANG_TIDY: pedantic
           - IMAGE: jazzy-source

core/python/CMakeLists.txt

@@ -24,8 +24,7 @@ add_subdirectory(pybind11)
 # C++ wrapper code
 add_subdirectory(bindings)
 
-
-if(BUILD_TESTING)
+if(BUILD_TESTING AND NOT DEFINED ENV{PRELOAD})
 	find_package(ament_cmake_pytest REQUIRED)
 	find_package(launch_testing_ament_cmake)
 	set(_pytest_tests test/test_mtc.py)

core/python/test/test_mtc.py

@@ -2,6 +2,7 @@
 # -*- coding: utf-8 -*-
 
 import sys
+import pytest
 import unittest
 import rclcpp
 from geometry_msgs.msg import Pose, PoseStamped, PointStamped, TwistStamped, Vector3Stamped
@@ -13,6 +14,24 @@ def setUpModule():
     rclcpp.init()
 
 
+# When py_binding_tools and MTC are compiled with different pybind11 versions,
+# the corresponding classes are not interoperable.
+def check_pybind11_incompatibility():
+    rclcpp.init([])
+    node = rclcpp.Node("dummy")
+    try:
+        core.PipelinePlanner(node)
+    except TypeError:
+        return True
+    finally:
+        rclcpp.shutdown()
+    return False
+
+
+incompatible_pybind11 = check_pybind11_incompatibility()
+incompatible_pybind11_msg = "MoveIt and MTC use incompatible pybind11 versions"
+
+
 class TestPropertyMap(unittest.TestCase):
     def setUp(self):
         self.node = rclcpp.Node("test_mtc_props")
@@ -33,6 +52,7 @@ def test_assign(self):
         # MotionPlanRequest is not registered as property type and should raise
         self.assertRaises(TypeError, self._check, "request", MotionPlanRequest())
 
+    @unittest.skipIf(incompatible_pybind11, incompatible_pybind11_msg)
     def test_assign_in_reference(self):
         planner = core.PipelinePlanner(self.node)
         props = planner.properties
@@ -115,6 +135,7 @@ def test_allow_collisions(self):
 
 
 class TestStages(unittest.TestCase):
+    @unittest.skipIf(incompatible_pybind11, incompatible_pybind11_msg)
     def setUp(self):
         self.node = rclcpp.Node("test_mtc_stages")
         self.planner = core.PipelinePlanner(self.node)