How to structure & link automated tests

edit

This question is about the structure of automated tests in a typical ROS/Catkin work space. The project has the following folder/file structure for the unit and node level tests:

Only the following files are executable: node.py, test-correct-response.py

It is important to keep in mind that we use Python 3 in all the shown Python files and some generated message files need to be available at the runtime of the tests (both unit and node tests).

We were not able to get this configuration to run like one would expect that. And we tried a lot. -.- Out main problems were that the unit tests were not executed with Python 3, but rather with Python 2. They also did not have access to the generated message files from other nodes. Further, our folder structure seemed to be problematic. Further, the usage of unittest.TestSuite was not working. Reading this and the linked sites did not help with those difficulties.

My questions

1. How does CMakeLists.txt need to be changed?
2. How does package.xml need to be changed?
3. Do other files need to be changed?
4. Can we then execute all tests simply with catkin_make run_tests?

Appendix: File contents

node.py

#!/usr/bin/env python3
# -*- coding: utf-8 -*-

import rospy

if __name__ == '__main__':
    rospy.init_node('my_node')
    rospy.logerr("some awesome output")
    rospy.signal_shutdown()

test-correct-response.py

#!/usr/bin/env python3
# -*- coding: utf-8 -*-

import unittest

class TestBareBones(unittest.TestCase):
    def test_one_equals_one(self):
        self.assertEqual(1, 1, "1 != 1")

class MyTestSuite(unittest.TestSuite):
    def __init__(self):
        super().__init__()
        self.addTest(TestBareBones())

if __name__ == '__main__':
    import rostest
    rostest.rosrun('first_package', 'my_bare_bones_test', MyTestSuite)

test-correct-response.py

<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
<launch>

    <node name="my_awsome_node" pkg="first_package" type="node.py" output="screen" />

    <test test-name="nodetest_1" pkg="first_package" type="test-correct-response.py" />

</launch>

test-outputs.py

#!/usr/bin/env python3
# -*- coding: utf-8 -*-

import unittest

class CaseA(unittest.TestCase):
    def runTest(self):
        self.assertFalse(8 == 1)

class CaseB(unittest.TestCase):
    def runTest(self):
        self.assertEqual(1, 1)

class MyTestSuite(unittest.TestSuite):
    def __init__(self):
        super().__init__()
        self.addTest(CaseA())
        self.addTest(CaseB())

if __name__ == '__main__':
    import rostest
    rostest.rosrun('first_package', 'test 1', MyTestSuite)

CMakeLists.txt

Pretty much like generated by catkin_create_pkg.

package.xml

Pretty much like generated by catkin_create_pkg.