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You've probably checked, but:

launch.launch_description_sources.python_launch_file_utilities.InvalidPythonLaunchFileError: launch file at '/opt/ros/foxy/share/launch_testing_ros/examples/talker_listener_launch_test.py' does not contain the required function 'generate_launch_description()'

does /opt/ros/foxy/share/launch_testing_ros/examples/talker_listener_launch_test.py contain the required generate_launch_description()?

You've probably checked, but:

launch.launch_description_sources.python_launch_file_utilities.InvalidPythonLaunchFileError: launch file at '/opt/ros/foxy/share/launch_testing_ros/examples/talker_listener_launch_test.py' does not contain the required function 'generate_launch_description()'

does /opt/ros/foxy/share/launch_testing_ros/examples/talker_listener_launch_test.py contain the required generate_launch_description()?