How can I test a ROS2 nodes ROS interface with tests implemented in Python?
The demos repo tests ROS2 nodes implemented in C++ with pytest. https://github.com/ros2/demos/blob/ma... The tests check the stdout output of the nodes. It is not obvious how to define pytest tests in Python to provide topics to a ROS2 node and assert against topic output of the ROS2 node. Are there other examples I could read to get how this works?