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If the test data is small it is usually ok to put them into the repo beside the tests. In cases where the test data is bigger I would recommend to place them in a publically fetchable location.

E.g. the tests for rosbag itself are fetching several bag files for verifying that the behavior has no regressions. See https://github.com/ros/ros_comm/blob/8ea90cb30bb29e073234fd8de8063c3e1adc94d9/test/test_rosbag/CMakeLists.txt#L18