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One of the things I was experimenting with was making the nodes lifecycle nodes. It's not ideal because you are now forced to make things lifecycle enabled solely for the purpose of testing. However, I think the amount of extra code can be minimal.

You can see an example here: https://github.com/ros-planning/navigation2/blob/master/nav2_util/test/test_lifecycle_utils.cpp

This test just brings up two lifecycle nodes and ensures they are activated. However, you could extend from there to do your specific test after that point.