Make integration test optional

Since the simulation doesn't shutdown cleanly, we do not want to leave behind a dangling simulation after running a colcon build.

.github/workflows/reusable_ici.yml

@@ -76,6 +76,7 @@ jobs:
  UPSTREAM_WORKSPACE: ${{ inputs.upstream_workspace }}
  ROS_DISTRO: ${{ inputs.ros_distro }}
  ROS_REPO: ${{ inputs.ros_repo }}
+ CMAKE_ARGS: -DUR_SIM_INTEGRATION_TESTS=ON
  - name: prepare target_ws for cache
  if: ${{ always() && ! matrix.env.CCOV }}
  run: |

ur_simulation_gz/CMakeLists.txt

@@ -3,6 +3,13 @@ project(ur_simulation_gz)
 
 find_package(ament_cmake REQUIRED)
 
+# Default to off as starting gzsim doesn't shut down correctly at the moment
+option(
+ UR_SIM_INTEGRATION_TESTS
+ "Run ur_simulation_gz integration tests"
+ OFF
+)
+
 install(DIRECTORY config launch urdf
  DESTINATION share/${PROJECT_NAME}
 )
@@ -11,10 +18,12 @@ if(BUILD_TESTING)
  find_package(launch_testing_ament_cmake)
  find_package(ament_cmake_pytest REQUIRED)
 
- add_launch_test(test/test_gz.py
- TIMEOUT
- 180
- )
+ if(${UR_SIM_INTEGRATION_TESTS})
+ add_launch_test(test/test_gz.py
+ TIMEOUT
+ 180
+ )
+ endif()
  ament_add_pytest_test(description test/test_description.py)
 endif()