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Hi!
I completely agree with you that testing software in ROS2 is not so straightforward as we wish. There's just a little point that is not clear from your question. Are you referring to testing some library (ROS2 indipendent) or the ROS2 interface for that library?
As far as I've understood is more the latter. In such case I wouldn't suggest (in my opinion) to unit testing your ROS2 interface, but rather using integration testing, since your goal is to verify the communication of your node. Also doing this has some level of complexity. In practice I know there are just a couple of ways to do that:
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