Writing Unit Test for ROS2 Action Server
I have recently followed the guide Writing-a-Cpp-Action-Server-Client, and as a learning exercise I would like to practise writing Unit Tests for both the server and client implementations.
I have searched for tutorials/examples on the matter, but have been unsuccessful. Are there any examples or guides on how to write tests using GTest for ROS2 Action Servers/Clients?
Thanks in advance!
Interesting question! Not a full answer, but there is a package called launch_testing_ros (github, which could be adapted, I believe. I don't have time right now to dive into this.