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As noted in the comments above, it wasn't possible.

However, as of ament_cmake#226, one can enable coverage with pytest_cov for tests added with ament_add_pytest_test using the AMENT_CMAKE_PYTEST_WITH_COVERAGE option, or it can be enabled by default for a package by declaring a <test_depend> on python3-pytest-cov.

Also, as of colcon-mixin-repository#23, there is a coverage-pytest mixin (for build) that sets that option to ON.

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