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The functionality you are referring to is provided by rostest in ROS 1.
There is currently no equivalent of rostest in ROS 2. Now that there is a new launch system in Bouncy, we should be closer to being able to add such functionality in ROS 2.
Currently the only ROS 2 tests running multiple processes are pytests using launch. Some examples can be found on the demos repository.
HTH,
| | 2 | No.2 Revision |
The functionality you are referring to is provided by rostest in ROS 1.
There is currently no equivalent of rostest in ROS 2. Now that there is a new launch system in Bouncy, we should be closer to being able to add such functionality in ROS 2.
Currently the only ROS 2 tests running multiple processes are pytests using launch. Some examples can be found on the demos repository.
HTH,
EDIT:
I tried to launch processes in background in the ros2 test,but this way can't meet the expected requirements.
@RachelRen Can you clarify which ones are the requirements of your setup that are not met ?
As a rostest port will "do the same thing" aka launching other nodes in different processes, I would expect the behavior to be similar as launching them with launch.
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