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What is the difference between the ROS 2 packages launch_testing, launch_testing_ros and ros_testing?

asked 2021-01-06 14:56:23 -0500

sjahr
31 ●1 ●2 ●3

While porting unit and integration tests from ROS 1 to ROS 2 (foxy), I got confused by the number of different testing packages. What is the difference between launch_testing, launch_testing_ros and ros_testing. Additionally there is ament_cmake_test. All these packages define different CMake macros and only a few have some kind of documentation or examples. Which one should I use or does that depend on the test I'm porting? Did I miss some documentation about this? Thanks in advance for your help!