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Why isn't Rostest running my gtests in catkin?

asked 2013-07-28 17:00:38 -0500

Toletum gravatar image

updated 2014-01-28 17:17:27 -0500

ngrennan gravatar image

I am trying to run a rostest that subscribes to topics of the node it tests. It is made with gtests. Currently, I'm trying to make the rostest deliberately fail using assert_true(false), etc.

However, no matter what I do, running rostest my_package CLASStester.test returns success with absolutely no information. I've checked the xml log files and there's also no trace of test information (also, I can never seem to get "cout" statements in the CLASStester.cpp file to print anything in the terminal).

The following shows...roughly...what I believe are the relevant sections from my CMakeLists.txt.

add_library(CLASSForTesting src/CLASS.cpp include/mypackage/CLASS.h)

target_link_libraries(CLASS ${catkin_LIBRARIES})

catkin_add_gtest(CLASSTester include/mypackage/test/CLASSTester.h src/test/CLASSTester.cpp include/mypackage/CLASS.h include/mypackage/CLASS.h)

target_link_libraries(CLASSTester ${catkin_LIBRARIES} CLASSForTesting)

set_target_properties(CLASSTester PROPERTIES OUTPUT_NAME CLASSTester)

add_rostest(test/CLASSTester.test)

add_dependencies(CLASSTester ${PROJECT_NAME}_gencpp)

There doesn't seem to be much documentation on using rostest with catkin. Let me know if there's anything else you need. Thank you.

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Comments

First you need to decide if your test is actually a GTest or a rostest. You registered both which is very likely wrong. For a more detailed answer please provide more information about your files (e.g. a repo containing the code in question).

Dirk Thomas gravatar image Dirk Thomas  ( 2013-07-29 07:15:46 -0500 )edit

Are gtests still intended to be used with rostests? Otherwise, what IS the point of rostest?

Toletum gravatar image Toletum  ( 2013-07-29 11:49:29 -0500 )edit

A GTest tends to be a standalone executable which does unit testing (tests individual functions in the component being tested). rostest allows you to do integration testing, by setting up a launch file which starts a roscore, and potentially several nodes and asserts things about the ROS interface of those nodes.

William gravatar image William  ( 2013-07-29 11:57:27 -0500 )edit

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answered 2013-07-29 15:11:09 -0500

joq gravatar image

See this related question.

The catkin documentation is here. It does not directly address the combination of gtest and rostest.

The camera_info_manager tests do something similar. You can compare that package.xml and CMakeLists.txt to yours.

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Asked: 2013-07-28 17:00:38 -0500

Seen: 987 times

Last updated: Jul 29 '13