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There's sections in the Developer Guide relating to this.

There's significant tooling and infrastructure to take advantage of existing open source testing tools and frameworks as well as linters. And yes there's significant CI visible on build.ros2.org and ci.ros2.org

if you'd like to know the state of practice I'd suggest browsing some of the core packages which all have significant testing.

• rclcpp
• rclpy

You can also look at the system_tests package for examples of integration tests.