code_coverage

ROS package to run coverage testing

Examples

• The robot_calibration package uses this to generate coverage for C++ code using Travis-CI and Codecov.io

Usage

To use this with your ROS package:

• Add code_coverage as a test depend in your package.xml
• Update your CMakeLists.txt, in the testing section add the following. NOTE the order of test targets and coverage macros:

   if(CATKIN_ENABLE_TESTING AND ENABLE_COVERAGE_TESTING)
     find_package(code_coverage REQUIRED)
     # Add compiler flags for coverage instrumentation before defining any targets
     APPEND_COVERAGE_COMPILER_FLAGS()
   endif()
   
   # Add your targets here
   
   if (CATKIN_ENABLE_TESTING)
     # Add your tests here
   
     # Create a target ${PROJECT_NAME}_coverage_report
     if(ENABLE_COVERAGE_TESTING)
       set(COVERAGE_EXCLUDES "*/${PROJECT_NAME}/test*" "*/${PROJECT_NAME}/other_dir_i_dont_care_about*")
       add_code_coverage(
         NAME ${PROJECT_NAME}_coverage_report
         DEPENDENCIES _run_tests_${PROJECT_NAME}
       )
     endif()
   endif()
   

• Note: The variable COVERAGE_EXCLUDES must have some content!

• Now you can build and run the tests (you need a debug build to get reasonable coverage numbers):

  • if using CATKIN_MAKE:

      catkin_make -DENABLE_COVERAGE_TESTING=ON -DCMAKE_BUILD_TYPE=Debug
      catkin_make -DENABLE_COVERAGE_TESTING=ON -DCMAKE_BUILD_TYPE=Debug PACKAGE_NAME_coverage_report
  

• if using CATKIN_TOOLS:

    catkin config --cmake-args -DENABLE_COVERAGE_TESTING=ON -DCMAKE_BUILD_TYPE=Debug
    catkin build
    catkin build PACKAGE_NAME -v --no-deps --catkin-make-args PACKAGE_NAME_coverage_report 
  

• The output will print where the coverage report is located

Python rostest Support

While the C++ interface and Python-based unit tests require no modification to get coverage information, Python-based nodes run from rostest launch files need a bit of additional instrumentation turned on:

<launch>

    <!-- Add an argument to the launch file to turn on coverage -->
    <arg name="coverage" default="false"/>

    <!-- This fancy line forces nodes to generate coverage -->
    <arg name="pythontest_launch_prefix" value="$(eval 'python-coverage run -p' if arg('coverage') else '')"/>

    <!-- This node will NOT generate coverage information -->
    <node pkg="example_pkg" name="publisher_node" type="publisher_node.py" />

    <!-- But this node WILL generate coverage -->
    <node pkg="example_pkg" name="subscriber_node" type="subscriber_node.py"
          launch-prefix="$(arg pythontest_launch_prefix)" />

    <!-- The test can also generate coverage information if you include the launch-prefix -->
    <test time-limit="10" test-name="sample_rostest" pkg="example_pkg" type="sample_rostest.py"
          launch-prefix="$(arg pythontest_launch_prefix)" />

</launch>

In the CMakeLists, you will need to pass this argument:

add_rostest(example_rostest.test ARGS coverage:=ENABLE_COVERAGE_TESTING)

Changelog for package code_coverage

0.4.4 (2020-10-29)

• Added python3-coverage support and error if python*-coverage is missing. (#27)
• Contributors: Stefan Fabian

0.4.3 (2020-07-30)

• Use multiple python coverage files (#23) Co-authored-by: hslusarek <<h.slusarek@pilz.de>>
• add note that robot_calibration uses this package
• fix #25
• Add new report formats (#24)
  • Add html report format
  • Add console report format
  • Add '--include' and '--omit' flag to python-coverage commands
• Contributors: Alexander Gutenkunst, Michael Ferguson, hslusarek

0.4.2 (2020-05-05)

• Add option for specifying extra flags to genhtml (#20) This modification allows you to add flags to the genhtml step so that you can do things like output the lcov report with demangled C++ function names, e.g.: catkin_make -DGENHTML_EXTRA_FLAGS="--demangle-cpp" -DENABLE_COVERAGE_TESTING=ON -DCMAKE_BUILD_TYPE=Debug test1_coverage_report
• Add catkin_make build step in usage example (#19)
• bump cmake version for noetic
• Contributors: Immanuel Martini, Michael Ferguson, mschickler

0.4.1 (2020-04-05)

• update package.xml for noetic
• Contributors: Michael Ferguson

0.4.0 (2020-04-02)

• add support for python-based coverage (#18)
• Contributors: Michael Ferguson

0.3.0 (2019-11-18)

• update target name in readme
• Merge pull request #15 from rhaschke/master Simplify + clarify usage
• add link to original source
• simplify usage
  • automatically include(CodeCoverage)
  • clarify that APPEND_COVERAGE_COMPILER_FLAGS() needs to be called before defining any target
• Merge pull request #13 from leunMar/fix/usage_docu Fix example of add_code_coverage() in README.md
• Fix example of add_code_coverage() in README.md
• Contributors: Immanuel Martini, Michael Ferguson, Robert Haschke

0.2.4 (2019-07-18)

• Merge pull request #11 from agutenkunst/master Keep *.info.cleaned. Closes #10
• Keep *.info.cleaned. Closes #10
• Merge pull request #8 from jschleicher/documentation documentation: degrade to test_depend
• documentation degrade to test_depend and note that build type should be set to Debug
• Contributors: Alexander Gutenkunst, Joachim Schleicher, Michael Ferguson

0.2.3 (2018-08-24)

• Merge pull request #7 from jschleicher/fix/installed_package fix search path for installed package
• fix search path for installed package Closes #6
• Contributors: Joachim Schleicher, Michael Ferguson

0.2.2 (2018-08-21)

• fix name of installspace file
• Contributors: Michael Ferguson

0.2.1 (2018-08-13)

• Merge pull request #3 from mikeferguson/catkin_build_fix Add support for catkin_tools (fixes #2)
• add information on how to run with catkin_tools
• minor escaping patch to work with catkin_tools
• Contributors: Michael Ferguson

0.2.0 (2018-08-01)

• First release
• Contributors: Michael Ferguson