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In my case I wanted to reuse "test_helpers" file of package A in another package B. I resided to the following setup:

1. packageA/CMakeLists.txt: ament_package(CONFIG_EXTRAS cmake/extra.cmake.in)

2. packageA/cmake/extra.cmake: get_filename_component(@PROJECT_NAME@_TEST_DIR @PROJECT_SOURCE_DIR@/test ABSOLUTE)

3. packageB/CMakeLists.txt: find_package(packageA), include_directories(${packageA_TEST_DIR})

4. Then just use the file that's under the test dir in your cpp/hpp files of package B: include "filename-relative to *_TEST_DIR"

In my case I wanted to reuse "test_helpers" a unittests-related file of package A in another package B. I resided to the following setup:

1. packageA/CMakeLists.txt: ament_package(CONFIG_EXTRAS cmake/extra.cmake.in)

2. packageA/cmake/extra.cmake: get_filename_component(@PROJECT_NAME@_TEST_DIR @PROJECT_SOURCE_DIR@/test ABSOLUTE)

3. packageB/CMakeLists.txt: find_package(packageA), include_directories(${packageA_TEST_DIR})

4. Then just use the file that's under the test dir in your cpp/hpp files of package B: include "filename-relative to *_TEST_DIR"

In my case I wanted to reuse a unittests-related file of package A in another package B. I resided to the following setup:

1. packageA/CMakeLists.txt: ament_package(CONFIG_EXTRAS cmake/extra.cmake.in)

2. packageA/cmake/extra.cmake: get_filename_component(@PROJECT_NAME@_TEST_DIR @PROJECT_SOURCE_DIR@/test ABSOLUTE)

3. packageB/CMakeLists.txt: find_package(packageA), include_directories(${packageA_TEST_DIR})

4. Then just use the file that's under the test dir in your cpp/hpp files of package B: include #include "filename-relative to *_TEST_DIR"