Unit Test

C++ Unit Test

Google Test & Google Mock

To run gtest/gmock, simply put these two parts within the BUILD_TESTING block in CMakeLists.txt and replace the corresponding names with the correct files/names,

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()

  # Add gtest executables
  find_package(ament_cmake_gtest REQUIRED)
  ament_add_gtest(<test-name> <test-file>)
  ament_target_dependencies(<test-name> rclcpp <other-ament-dependencies>)
  target_link_libraries(<test-name> <library-name>)

  # Add gmock executables
  find_package(ament_cmake_gmock REQUIRED)
  ament_add_gmock(<test-name> <test-file>)
  ament_target_dependencies(<test-name> rclcpp <other-ament-dependencies>)
  target_link_libraries(<test-name> <library-name>)

endif()

Also remember to to add this line to package.xml,

<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_cmake_gmock</test_depend>

Run the build and test command to invoke gtest or gmock.

colcon build
colcon test --packages-select <package_name> --event-handlers console_direct+

Catch2

To use Catch2, the sources have to be setup beforehand. There are 2 ways in of installing the ament plugin, either through the system package installer or cloning the repository into the workspace.

Via system package installer

As Catch2 ament plugin is listed inside the rmf sources, we’ll be setting it up so that the system would be able to find it. First, authorize the key:

curl -s http://rmf.servehttp.com/repos.key | sudo apt-key add -

Next, we would be adding the repository to the apt sources, after which we would update the repository list:

sudo sh -c 'echo "deb http://rmf.servehttp.com/ubuntu/main/ `lsb_release -cs` main" > /etc/apt/sources.list.d/rmf.list'
sudo apt update

Finally, install the ament Catch2 ament plugin:

sudo apt install ros-foxy-ament-cmake-catch2

Via git clone

Clone the repository into your workspace:

git clone https://github.com/open-rmf/ament_cmake_catch2.git

After that, compile the sources:

colcon build

Usage

Important

Ensure that Catch2 is installed in the system beforehand, as it is a dependency of the ament plugin. A quick guide to install Catch2 system-wide is available in the “Guide” section: Catch2 setup, more information on Catch2 can be found in the official repository

To use the Catch2 , we would add the ament wrapper for it. Add the following lines to your package.xml:

<test_depend>ament_cmake_catch2</test_depend>

And the following lines in CMakeLists.txt:

find_package(ament_cmake_catch2 REQUIRED)
ament_add_catch2(<test-name> <test-file>)
target_link_libraries(<test-name> <library-name>)

Note

If you are using a system wide installation of Catch2, remember to add the package with find_package():

find_package(Catch2)

Example

Example usage of Catch2 unit testing could be found in the rtpkg repository:

• CMakeLists.txt

• package.xml

• test/main_catch.cpp

Python Unit Test

Pytest

Add the following lines to your package.xml. This way dependencies can be automatically installed when rosdep is called.

<test_depend>python3-pytest</test_depend>

Also Add the following line to your setup.py. Make sure you add it inside the setup function inside setup.py

test_require=['pytest'],

Lastly, simply put your unit test files inside the test folder and name your file correctly (test_*.py). The unit tests will be invoked automatically with the static tests.