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Ramon Roche
6baef6ba88
Restart the Micro-XRCE-DDS Agent before each integration test so DDS graph state from a previous PX4 instance does not leak into the next test. The MicroXRCEAgent is started once per session, but PX4 reboots between tests. The Agent retains writer entries from the previous PX4, so when the new PX4 reconnects, count_publishers() in px4-ros2-interface-lib's waitForFMU returns >0 immediately against a stale entry. Phase 1 (discovery) returns instantly, then Phase 2 (heartbeat) times out waiting for a message on a subscription matched to a dead writer. This is why ModesTest.denyArming (first test) passes while every later ModesTest fails with "timeout while waiting for FMU heartbeat". Adds an optional pre_test_hook on test_runner.Tester so ROS-specific lifecycle stays out of the shared test_runner. The workflow stops starting the Agent externally; ros_test_runner.py owns the lifecycle. Refs #27328 Signed-off-by: Ramon Roche <mrpollo@gmail.com>