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I reached the same conclusion: there is, AFAIK, no way of building and running tests for all package dependencies of a given package. 'rosmake -t foo' will only compile and run the tests for package 'foo', but not for its dependencies.

I wrote a small script to do that. This script calls 'make test' in all dependencies of the given package and presents the results in a fancy way. Available here, hope it helps! https://sites.google.com/site/rameyarnaud/misc/ros/ros-unit-tests-compilation