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colcon test simply invokes the tests of the package. For CMake-based packages that is using CTest, for Python packages it is pytest. For tests involving more than one executable you probably want to look into launch_testing (https://github.com/ros2/launch/tree/master/launch_testing) and launch_testing_ros (https://github.com/ros2/launch_ros/tree/master/launch_testing_ros).

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