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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,

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.