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For those curious, I was able to do it by invoking colcon as follows.

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="--coverage" -DCMAKE_CXX_OUTPUT_EXTENSION_REPLACE=ON

Then I ran the tests.

colcon test

Finally, I ran lcov.

lcov --capture --directory build/ --output-file my_fantastic_coverage_report.info

And generated fancy HTML with this.

genhtml my_fantastic_coverage_report.info --output-directory fancy_html_coverage_report

Then just sensible-browser fancy_html_coverage_report/index.html.

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