chore: sync upstream rolling

launch/CHANGELOG.rst

@@ -2,6 +2,20 @@
 Changelog for package launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.10.0 (2026-05-07)
+-------------------
+* Robust pytest_ignore_collect for multi-version Pytest compatibility (`#974 <https://github.com/ros2/launch/issues/974>`_)
+* Fix Pytest 8/9 compatibility and coroutine leaks in launch_pytest (`#972 <https://github.com/ros2/launch/issues/972>`_)
+* Contributors: Michael Carroll
+
+3.9.7 (2026-04-09)
+------------------
+* Correct typos (`#961 <https://github.com/ros2/launch/issues/961>`_)
+* hotfix (`#950 <https://github.com/ros2/launch/issues/950>`_)
+* Declare Boolean Launch Argument (`#944 <https://github.com/ros2/launch/issues/944>`_)
+* Support frontends for PathJoinSubstitution (`#943 <https://github.com/ros2/launch/issues/943>`_)
+* Contributors: Auguste Lalande, Christophe Bedard, David V. Lu!!, Michael Carlstrom
+
 3.9.6 (2026-01-12)
 ------------------
 * test python substitution with submodules (`#688 <https://github.com/ros2/launch/issues/688>`_)

launch/conftest.py

@@ -12,14 +12,33 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from pathlib import PurePath
+import pathlib
 
+import pytest
 
-def pytest_ignore_collect(path):
-    # pytest doctest messes up when trying to import .launch.py packages, ignore them.
-    # It also messes up when trying to import launch.logging.handlers due to conflicts with
-    # logging.handlers, ignore that as well.
-    return str(path).endswith((
-        '.launch.py',
-        str(PurePath('logging') / 'handlers.py'),
-    ))
+
+def _pytest_version_ge(major, minor=0, patch=0):
+    """Return True if pytest version is >= the given version."""
+    pytest_version = tuple(int(v) for v in pytest.__version__.split('.'))
+    return pytest_version >= (major, minor, patch)
+
+
+def _should_ignore(p):
+    if p is None:
+        return False
+    path = pathlib.Path(p)
+    # Ignore .launch.py files — not valid Python module names.
+    if path.name.endswith('.launch.py'):
+        return True
+    # Ignore launch.logging.handlers — collides with stdlib logging.handlers.
+    if path.name == 'handlers.py' and path.parent.name == 'logging':
+        return True
+    return False
+
+
+if _pytest_version_ge(8):
+    def pytest_ignore_collect(collection_path, config):
+        return _should_ignore(collection_path)
+else:
+    def pytest_ignore_collect(path, config):
+        return _should_ignore(path)

launch/launch/actions/execute_local.py

@@ -709,7 +709,7 @@ def execute(self, context: LaunchContext) -> None:
             self.__shutdown_future = context.asyncio_loop.create_future()
             self.__logger = launch.logging.get_logger(name)
             if name is None:
-                raise RuntimeError('Cannot get Ouput Loggers with None name')
+                raise RuntimeError('Cannot get Output Loggers with None name')
             if not isinstance(self.__output, dict):
                 self.__stdout_logger, self.__stderr_logger = \
                     launch.logging.get_output_loggers(

launch/launch/actions/execute_process.py

@@ -409,8 +409,8 @@ def parse(
 
         if 'additional_env' not in ignore:
             # Conditions won't be allowed in the `env` tag.
-            # If that feature is needed, `set_enviroment_variable` and
-            # `unset_enviroment_variable` actions should be used.
+            # If that feature is needed, `set_environment_variable` and
+            # `unset_environment_variable` actions should be used.
             env = entity.get_attr('env', data_type=List[Entity], optional=True)
             if env is not None:
                 kwargs['additional_env'] = {

launch/launch/actions/for_loop.py

@@ -111,7 +111,7 @@ def generate_launch_description():
                     - log_info:
                         message: "'$(for-var name)' id=$(for-var id)"
 
-    The above examples would ouput the following log messages by default:
+    The above examples would output the following log messages by default:
 
     .. code-block:: text
 
@@ -306,7 +306,7 @@ def generate_launch_description():
                     - log_info:
                         message: i=$(index i)
 
-    The above examples would ouput the following log messages by default:
+    The above examples would output the following log messages by default:
 
     .. code-block:: text
 

launch/launch/event_handlers/on_process_exit.py

@@ -27,7 +27,6 @@
 from ..launch_context import LaunchContext
 from ..some_entities_type import SomeEntitiesType
 
-
 if TYPE_CHECKING:
     from ..action import Action  # noqa: F401
     from ..actions import ExecuteLocal  # noqa: F401

launch/launch/launch_introspector.py

@@ -32,9 +32,9 @@
 from .utilities import normalize_to_list_of_substitutions
 
 
-def indent(lines: List[Text], indention: Text = '    ') -> List[Text]:
+def indent(lines: List[Text], indentation: Text = '    ') -> List[Text]:
     """Indent a list of strings and return them."""
-    return ['{}{}'.format(indention, line) for line in lines]
+    return ['{}{}'.format(indentation, line) for line in lines]
 
 
 def tree_like_indent(lines: List[Text]) -> List[Text]:

launch/launch/logging/__init__.py

@@ -1,4 +1,4 @@
-# Copyright 2019 Open Source Robotics Foundation, Inc.
+# Copyright 2019 Open Source Robotics Foundation, Inc.  # noqa: A005
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

launch/launch/substitutions/environment_variable.py

@@ -69,7 +69,7 @@ def __init__(
     @classmethod
     def parse(cls, data: Sequence[SomeSubstitutionsType]
               ) -> Tuple[Type['EnvironmentVariable'], Dict[str, Any]]:
-        """Parse `EnviromentVariable` substitution."""
+        """Parse `EnvironmentVariable` substitution."""
         if len(data) < 1 or len(data) > 2:
             raise TypeError('env substitution expects 1 or 2 arguments')
         kwargs = {'name': data[0]}

launch/launch/substitutions/string_join_substitution.py

@@ -30,7 +30,7 @@ class StringJoinSubstitution(Substitution):
 
     This takes in a list of string components as substitutions.
     The substitutions for each string component are performed and concatenated,
-    and then all string components are joined with a specified delimiter as seperation.
+    and then all string components are joined with a specified delimiter as separation.
 
     For example:
 
@@ -76,7 +76,7 @@ def __init__(
         Create a StringJoinSubstitution.
 
         :param substitutions: the list of string component substitutions to join
-        :param delimiter: the text inbetween two consecutive components (default no text)
+        :param delimiter: the text in between two consecutive components (default no text)
         """
         from ..utilities import normalize_to_list_of_substitutions
 

launch/launch/utilities/type_utils.py

@@ -349,7 +349,7 @@ def get_typed_value(
 
 
 # Unfortunately, mypy is unable to correctly infer that `is_substitution` can
-# only return True when the passed tpe is either a substitution or a mixed
+# only return True when the passed type is either a substitution or a mixed
 # list of strings and substitutions. Indeed, there is no way that I could find
 # using overloads to describe "anything else than the above two types".
 # Can be redone properly with TypeIs once mypy version 1.10+ is available on all platforms

launch/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>launch</name>
-  <version>3.9.6</version>
+  <version>3.10.0</version>
   <description>The ROS launch tool.</description>
 
   <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>

launch/pytest.ini

@@ -1,5 +1,7 @@
 [pytest]
 junit_family=xunit2
-addopts = --doctest-modules
+# Disable doctest modules temporarily to avoid ImportPathMismatchError with logging.handlers
+# addopts = --doctest-modules
 timeout=900
 timeout_method=thread
+pythonpath = test

launch/setup.py

@@ -5,7 +5,7 @@
 
 setup(
     name=package_name,
-    version='3.9.6',
+    version='3.10.0',
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/' + package_name, ['package.xml']),

launch_pytest/CHANGELOG.rst

@@ -2,6 +2,17 @@
 Changelog for package launch_pytest
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.10.0 (2026-05-07)
+-------------------
+* Fix Pytest 8/9 compatibility and coroutine leaks in launch_pytest (`#972 <https://github.com/ros2/launch/issues/972>`_)
+* Contributors: Michael Carroll
+
+3.9.7 (2026-04-09)
+------------------
+* fix regressions (`#959 <https://github.com/ros2/launch/issues/959>`_)
+* fix: add get_launch_test_fixture_scope for pytest compatibility (`#949 <https://github.com/ros2/launch/issues/949>`_)
+* Contributors: Daisuke Nishimatsu, Michael Carlstrom
+
 3.9.6 (2026-01-12)
 ------------------
 

launch_pytest/launch_pytest/fixture.py

@@ -27,13 +27,16 @@ def scope_gt(scope1, scope2):
     from _pytest.fixtures import scopemismatch as scope_gt
 
 
-def finalize_launch_service(launch_service, eprefix='', auto_shutdown=True):
+def finalize_launch_service(launch_service, eprefix='', auto_shutdown=True, task=None):
     if auto_shutdown:
         launch_service.shutdown(force_sync=True)
     loop = launch_service.event_loop
     if loop is not None and not loop.is_closed():
-        rc = loop.run_until_complete(launch_service.task)
-        assert rc == 0, f"{eprefix} launch service failed when finishing, return code '{rc}'"
+        if task is None:
+            task = launch_service.task
+        if task is not None:
+            rc = loop.run_until_complete(task)
+            assert rc == 0, f"{eprefix} launch service failed when finishing, return code '{rc}'"
 
 
 def get_launch_service_fixture(*, scope='function', overridable=True):

launch_pytest/launch_pytest/plugin.py

@@ -119,12 +119,17 @@ def pytest_fixture_setup(fixturedef, request):
         run_async_task = event_loop.create_task(ls.run_async(
             shutdown_when_idle=options['shutdown_when_idle']
         ))
+        fixturedef.addfinalizer(functools.partial(
+            finalize_launch_service,
+            ls,
+            eprefix=eprefix,
+            auto_shutdown=options['auto_shutdown'],
+            task=run_async_task
+        ))
         ready = get_ready_to_test_action(ld)
         asyncio.set_event_loop(event_loop)
         event = asyncio.Event()
         ready._add_callback(lambda: event.set())
-        fixturedef.addfinalizer(functools.partial(
-            finalize_launch_service, ls, eprefix=eprefix, auto_shutdown=options['auto_shutdown']))
         run_until_complete(event_loop, event.wait())
         # this is guaranteed by the current run_async() implementation, let's check it just in case
         # it changes in the future
@@ -361,7 +366,7 @@ def pytest_pyfunc_call(pyfuncitem):
                 wrap_generator(func, event_loop, on_shutdown)
             )
             shutdown_item._fixtureinfo = shutdown_item.session._fixturemanager.getfixtureinfo(
-                shutdown_item, shutdown_item.obj, shutdown_item.cls, funcargs=True)
+                shutdown_item, shutdown_item.obj, shutdown_item.cls)
         else:
             pyfuncitem.obj = wrap_generator_fscope(func, event_loop, on_shutdown)
     elif inspect.isasyncgenfunction(func):
@@ -371,7 +376,7 @@ def pytest_pyfunc_call(pyfuncitem):
                 wrap_asyncgen(func, event_loop, on_shutdown)
             )
             shutdown_item._fixtureinfo = shutdown_item.session._fixturemanager.getfixtureinfo(
-                shutdown_item, shutdown_item.obj, shutdown_item.cls, funcargs=True)
+                shutdown_item, shutdown_item.obj, shutdown_item.cls)
         else:
             pyfuncitem.obj = wrap_asyncgen_fscope(func, event_loop, on_shutdown)
     elif not getattr(pyfuncitem.obj, '_launch_pytest_wrapped', False):
@@ -417,8 +422,7 @@ def wrap_generator(func, event_loop, on_shutdown):
     """Return wrappers for the normal test and the teardown test for a generator function."""
     gen = None
 
-    def shutdown():
-        nonlocal gen
+    def shutdown(**kwargs):
         if gen is None:
             skip('shutdown test skipped because the test failed before')
         on_shutdown()
@@ -469,7 +473,6 @@ def wrap_asyncgen(func, event_loop, on_shutdown):
     agen = None
 
     def shutdown(**kwargs):
-        nonlocal agen
         if agen is None:
             skip('shutdown test skipped because the test failed before')
         on_shutdown()

launch_pytest/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>launch_pytest</name>
-  <version>3.9.6</version>
+  <version>3.10.0</version>
   <description>A package to create tests which involve launch files and multiple processes.</description>
 
   <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>

launch_pytest/setup.py

@@ -9,7 +9,7 @@
 
 setup(
     name=package_name,
-    version='3.9.6',
+    version='3.10.0',
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/ament_index/resource_index/packages', [f'resource/{package_name}']),

launch_testing/CHANGELOG.rst

@@ -2,6 +2,19 @@
 Changelog for package launch_testing
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.10.0 (2026-05-07)
+-------------------
+* Robust pytest_ignore_collect for multi-version Pytest compatibility (`#974 <https://github.com/ros2/launch/issues/974>`_)
+* Fix Pytest 8/9 compatibility and coroutine leaks in launch_pytest (`#972 <https://github.com/ros2/launch/issues/972>`_)
+* Contributors: Michael Carroll
+
+3.9.7 (2026-04-09)
+------------------
+* Correct typos (`#961 <https://github.com/ros2/launch/issues/961>`_)
+* Fix test_io_tests for Ubuntu26 (`#960 <https://github.com/ros2/launch/issues/960>`_)
+* Fix flake8 (`#952 <https://github.com/ros2/launch/issues/952>`_)
+* Contributors: Auguste Lalande, Michael Carlstrom
+
 3.9.6 (2026-01-12)
 ------------------
 

launch_testing/launch_testing/asserts/assert_sequential_output.py

@@ -69,7 +69,7 @@ def assertInStdout(self, msg):
 
     def get_nearby_lines(self):
 
-        # This works by concatinating a few of the process_io outputs that we received, then
+        # This works by concatenating a few of the process_io outputs that we received, then
         # searching forward and backward for two return-lines in each direction, then returning
         # just that portion to give context about where a failure happened
 

launch_testing/launch_testing/markers.py

@@ -30,7 +30,7 @@ def retry_on_failure(*, times, delay=None):
     """
     Mark a test case to be retried up to `times` on AssertionError.
 
-    :param times: The number of times to rety the test.
+    :param times: The number of times to retry the test.
     :param delay: The time to wait between retries, in seconds.
       A value of None will result in zero delay.
     """