ROS 2 Integration and Unit Testing Examples

An example package app that showcases integration testing with launch_testing and ament_cmake_ros and unit testing with pytest and gtest.

Both integration and unit tests write out complete XUnit reports, allowing to list the results of all individual tests together (e.g. to create a report as part of a CI/CD pipeline). Also, each integration test automatically receives a unique ROS_DOMAIN_ID to avoid crosstalk between simultaneously running tests.

A ROS 2 Jazzy Docker setup is included to get started quickly. This code probably also works on Humble and Iron. Please see the instructions further on for creating the .env file.

For more documentation, please have a look at the code files in the app package such as test_integration.py and the CMakeLists.txt

Get up and running

git clone git@github.com:abaeyens/ros2-integration-testing-examples.git
cd ros2-integration-testing-examples

echo -e USER_ID=$(id -u $USER)\\nGROUP_ID=$(id -g $USER) >> .env
docker compose build --pull
docker compose run --rm app bash

colcon build
source install/setup.bash
colcon test --event-handlers console_direct+
colcon test-result --all
xunit-viewer -r build/app/test_results -c

Notes

• The tests include launching a turtlesim GUI, hence the tests may fail on a headless system.