test(ros_gz_bridge): cover dynamic bridge discovery

Generated-by: OpenAI Codex (GPT-5)
Signed-off-by: Davide Iafrate <dvde.iafrate98@gmail.com>

Author: Davide Iafrate

ros_gz_bridge/CMakeLists.txt

@@ -321,6 +321,15 @@ if(BUILD_TESTING)
   target_include_directories(test_launch_action_subscriber
     PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/test/subscribers)
 
+  add_executable(test_dynamic_bridge test/test_dynamic_bridge.cpp)
+  target_link_libraries(test_dynamic_bridge
+    ${GTEST_LIBRARIES}
+    gz-msgs::core
+    gz-transport::core
+    rclcpp::rclcpp
+    ${std_msgs_TARGETS}
+  )
+
   install(TARGETS
     test_launch_action_subscriber
     test_ros_publisher
@@ -329,6 +338,7 @@ if(BUILD_TESTING)
     test_gz_subscriber
     test_gz_server
     test_ros_client
+    test_dynamic_bridge
     DESTINATION lib/${PROJECT_NAME}
   )
 
@@ -354,6 +364,22 @@ if(BUILD_TESTING)
     TIMEOUT 200
   )
 
+  add_launch_test(test/launch/test_dynamic_bridge.launch.py
+    TARGET test_dynamic_bridge_gz_to_ros
+    TIMEOUT 200
+    ARGS
+      "direction:=GZ_TO_ROS"
+      "gtest_filter:=-DynamicBridgeTest.BridgesBidirectionally"
+  )
+
+  add_launch_test(test/launch/test_dynamic_bridge.launch.py
+    TARGET test_dynamic_bridge_bidirectional
+    TIMEOUT 200
+    ARGS
+      "direction:=BIDIRECTIONAL"
+      "gtest_filter:=DynamicBridgeTest.BridgesBidirectionally"
+  )
+
   ament_add_gtest(${PROJECT_NAME}_bridge_config test/bridge_config.cpp
     WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
   target_include_directories(${PROJECT_NAME}_bridge_config PRIVATE src)

ros_gz_bridge/test/launch/test_dynamic_bridge.launch.py

@@ -0,0 +1,69 @@
+# Copyright 2026 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import unittest
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+import launch_testing
+
+
+def generate_test_description():
+    bridge = Node(
+        package='ros_gz_bridge',
+        executable='parameter_bridge',
+        parameters=[{
+            'create_dynamic_bridges': True,
+            'dynamic_bridge_direction': LaunchConfiguration('direction'),
+            'subscription_heartbeat': 50,
+        }],
+        output='screen',
+    )
+    process_under_test = Node(
+        package='ros_gz_bridge',
+        executable='test_dynamic_bridge',
+        arguments=[['--gtest_filter=', LaunchConfiguration('gtest_filter')]],
+        output='screen',
+    )
+
+    return LaunchDescription([
+        SetEnvironmentVariable('GZ_PARTITION', 'ros_gz_dynamic_bridge_test'),
+        SetEnvironmentVariable('ROS_DOMAIN_ID', '42'),
+        DeclareLaunchArgument('direction'),
+        DeclareLaunchArgument('gtest_filter'),
+        bridge,
+        process_under_test,
+        launch_testing.util.KeepAliveProc(),
+        launch_testing.actions.ReadyToTest(),
+    ]), locals()
+
+
+class DynamicBridgeTest(unittest.TestCase):
+
+    def test_termination(self, process_under_test, proc_info):
+        proc_info.assertWaitForShutdown(process=process_under_test, timeout=200)
+
+
+@launch_testing.post_shutdown_test()
+class DynamicBridgeTestAfterShutdown(unittest.TestCase):
+
+    def test_exit_code(self, process_under_test, proc_info):
+        launch_testing.asserts.assertExitCodes(
+            proc_info,
+            [launch_testing.asserts.EXIT_OK],
+            process_under_test,
+        )