Writing Unit Test for ROS2 Action Server

asked 2021-03-20 16:16:52 -0600

jlane gravatar image

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!

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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.

pvl gravatar image pvl  ( 2021-06-29 02:39:55 -0600 )edit