├── ros2test ├── resource │ └── ros2test ├── ros2test │ ├── __init__.py │ └── command │ │ ├── __init__.py │ │ └── test.py ├── pytest.ini ├── test │ ├── test_xmllint.py │ ├── test_copyright.py │ ├── test_pep257.py │ └── test_flake8.py ├── package.xml ├── setup.py └── CHANGELOG.rst ├── README.md ├── ros_testing ├── CMakeLists.txt ├── ros_testing-extras.cmake ├── package.xml ├── CHANGELOG.rst └── cmake │ └── add_ros_test.cmake ├── .gitignore └── LICENSE /ros2test/resource/ros2test: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /ros2test/ros2test/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /ros2test/ros2test/command/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /ros2test/pytest.ini: -------------------------------------------------------------------------------- 1 | [pytest] 2 | junit_family=xunit2 3 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # rostest 2 | Single point of entry for writing tests which involve Nodes in ROS 2. 3 | -------------------------------------------------------------------------------- /ros_testing/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.20) 2 | 3 | project(ros_testing NONE) 4 | 5 | find_package(ament_cmake_core REQUIRED) 6 | 7 | ament_package( 8 | CONFIG_EXTRAS "${PROJECT_NAME}-extras.cmake" 9 | ) 10 | 11 | install( 12 | DIRECTORY cmake 13 | DESTINATION share/${PROJECT_NAME} 14 | ) 15 | -------------------------------------------------------------------------------- /ros_testing/ros_testing-extras.cmake: -------------------------------------------------------------------------------- 1 | # Copyright 2019 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | find_package(launch_testing_ament_cmake REQUIRED) 16 | 17 | include("${ros_testing_DIR}/add_ros_test.cmake") 18 | -------------------------------------------------------------------------------- /ros2test/test/test_xmllint.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_xmllint.main import main 16 | import pytest 17 | 18 | 19 | @pytest.mark.linter 20 | @pytest.mark.xmllint 21 | def test_xmllint(): 22 | rc = main(argv=[]) 23 | assert rc == 0, 'Found errors' 24 | -------------------------------------------------------------------------------- /ros2test/test/test_copyright.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_copyright.main import main 16 | import pytest 17 | 18 | 19 | @pytest.mark.copyright 20 | @pytest.mark.linter 21 | def test_copyright(): 22 | rc = main(argv=['.', 'test']) 23 | assert rc == 0, 'Found errors' 24 | -------------------------------------------------------------------------------- /ros2test/test/test_pep257.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_pep257.main import main 16 | import pytest 17 | 18 | 19 | @pytest.mark.linter 20 | @pytest.mark.pep257 21 | def test_pep257(): 22 | rc = main(argv=[]) 23 | assert rc == 0, 'Found code style errors / warnings' 24 | -------------------------------------------------------------------------------- /ros2test/test/test_flake8.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_flake8.main import main_with_errors 16 | import pytest 17 | 18 | 19 | @pytest.mark.flake8 20 | @pytest.mark.linter 21 | def test_flake8(): 22 | rc, errors = main_with_errors(argv=[]) 23 | assert rc == 0, \ 24 | 'Found %d code style errors / warnings:\n' % len(errors) + \ 25 | '\n'.join(errors) 26 | -------------------------------------------------------------------------------- /ros2test/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 5 | 6 | ros2test 7 | 0.9.1 8 | The test command for ROS 2 launch tests. 9 | 10 | Dharini Dutia 11 | 12 | Apache License 2.0 13 | 14 | Michel Hidalgo 15 | 16 | domain_coordinator 17 | launch 18 | launch_ros 19 | launch_testing 20 | launch_testing_ros 21 | ros2cli 22 | 23 | ament_copyright 24 | ament_flake8 25 | ament_pep257 26 | ament_xmllint 27 | python3-pytest 28 | 29 | 30 | ament_python 31 | 32 | 33 | -------------------------------------------------------------------------------- /ros_testing/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | ros_testing 5 | 0.9.1 6 | The entry point package to launch testing in ROS. 7 | 8 | Dharini Dutia 9 | 10 | Apache License 2.0 11 | 12 | Michel Hidalgo 13 | 14 | ament_cmake 15 | launch_testing_ament_cmake 16 | ros2test 17 | 18 | ament_cmake_core 19 | ament_cmake_export_dependencies 20 | 21 | launch_testing 22 | launch_testing_ros 23 | launch_testing_ament_cmake 24 | 25 | launch_testing 26 | launch_testing_ros 27 | ros2test 28 | 29 | 30 | ament_cmake 31 | 32 | 33 | -------------------------------------------------------------------------------- /ros_testing/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package ros_testing 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 0.9.1 (2025-07-29) 6 | ------------------ 7 | * fix cmake deprecation (`#17 `_) 8 | * Contributors: mosfet80 9 | 10 | 0.9.0 (2025-04-25) 11 | ------------------ 12 | 13 | 0.8.0 (2024-11-20) 14 | ------------------ 15 | 16 | 0.7.0 (2024-04-26) 17 | ------------------ 18 | 19 | 0.6.0 (2023-04-28) 20 | ------------------ 21 | 22 | 0.5.2 (2023-02-13) 23 | ------------------ 24 | * [rolling] Update maintainers - 2022-11-07 (`#12 `_) 25 | * Contributors: Audrow Nash 26 | 27 | 0.5.1 (2022-09-13) 28 | ------------------ 29 | * update maintainer 30 | * Contributors: Dharini Dutia, quarkytale 31 | 32 | 0.5.0 (2022-04-29) 33 | ------------------ 34 | 35 | 0.4.0 (2022-01-13) 36 | ------------------ 37 | 38 | 0.3.0 (2021-03-19) 39 | ------------------ 40 | * Use rostest CMake target as output file basename. (`#9 `_) 41 | * Contributors: Michel Hidalgo 42 | 43 | 0.2.1 (2020-04-30) 44 | ------------------ 45 | 46 | 0.2.0 (2019-09-26) 47 | ------------------ 48 | 49 | 0.1.0 (2019-05-20) 50 | ------------------ 51 | * Add ros_testing metapackage and ros2test CLI package (`#1 `_) 52 | * Contributors: Michel Hidalgo 53 | -------------------------------------------------------------------------------- /ros2test/setup.py: -------------------------------------------------------------------------------- 1 | from setuptools import find_packages 2 | from setuptools import setup 3 | 4 | package_name = 'ros2test' 5 | 6 | setup( 7 | name=package_name, 8 | version='0.9.1', 9 | packages=find_packages(exclude=['test']), 10 | data_files=[ 11 | ('share/' + package_name, ['package.xml']), 12 | ('share/ament_index/resource_index/packages', 13 | ['resource/' + package_name]), 14 | ], 15 | install_requires=['ros2cli'], 16 | zip_safe=True, 17 | author='Michel Hidalgo', 18 | author_email='michel@ekumenlabs.com', 19 | maintainer='Dharini Dutia', 20 | maintainer_email='dharini@openrobotics.org', 21 | url='https://github.com/ros2/rostest/tree/master/ros2test', 22 | download_url='https://github.com/ros2/rostest/releases', 23 | keywords=[], 24 | classifiers=[ 25 | 'Environment :: Console', 26 | 'Intended Audience :: Developers', 27 | 'Programming Language :: Python', 28 | ], 29 | description='The test command for ROS 2 launch tests.', 30 | long_description="""\ 31 | This package provides the test command for ROS 2 launch tests.""", 32 | license='Apache License, Version 2.0', 33 | extras_require={ 34 | 'test': [ 35 | 'pytest', 36 | ], 37 | }, 38 | entry_points={ 39 | 'ros2cli.command': [ 40 | 'test = ros2test.command.test:TestCommand', 41 | ], 42 | } 43 | ) 44 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # Byte-compiled / optimized / DLL files 2 | __pycache__/ 3 | *.py[cod] 4 | *$py.class 5 | 6 | # C extensions 7 | *.so 8 | 9 | # Distribution / packaging 10 | .Python 11 | build/ 12 | develop-eggs/ 13 | dist/ 14 | downloads/ 15 | eggs/ 16 | .eggs/ 17 | lib/ 18 | lib64/ 19 | parts/ 20 | sdist/ 21 | var/ 22 | wheels/ 23 | *.egg-info/ 24 | .installed.cfg 25 | *.egg 26 | MANIFEST 27 | 28 | # PyInstaller 29 | # Usually these files are written by a python script from a template 30 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 31 | *.manifest 32 | *.spec 33 | 34 | # Installer logs 35 | pip-log.txt 36 | pip-delete-this-directory.txt 37 | 38 | # Unit test / coverage reports 39 | htmlcov/ 40 | .tox/ 41 | .coverage 42 | .coverage.* 43 | .cache 44 | nosetests.xml 45 | coverage.xml 46 | *.cover 47 | .hypothesis/ 48 | .pytest_cache/ 49 | 50 | # Translations 51 | *.mo 52 | *.pot 53 | 54 | # Django stuff: 55 | *.log 56 | local_settings.py 57 | db.sqlite3 58 | 59 | # Flask stuff: 60 | instance/ 61 | .webassets-cache 62 | 63 | # Scrapy stuff: 64 | .scrapy 65 | 66 | # Sphinx documentation 67 | docs/_build/ 68 | 69 | # PyBuilder 70 | target/ 71 | 72 | # Jupyter Notebook 73 | .ipynb_checkpoints 74 | 75 | # pyenv 76 | .python-version 77 | 78 | # celery beat schedule file 79 | celerybeat-schedule 80 | 81 | # SageMath parsed files 82 | *.sage.py 83 | 84 | # Environments 85 | .env 86 | .venv 87 | env/ 88 | venv/ 89 | ENV/ 90 | env.bak/ 91 | venv.bak/ 92 | 93 | # Spyder project settings 94 | .spyderproject 95 | .spyproject 96 | 97 | # Rope project settings 98 | .ropeproject 99 | 100 | # mkdocs documentation 101 | /site 102 | 103 | # mypy 104 | .mypy_cache/ 105 | -------------------------------------------------------------------------------- /ros2test/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package ros2test 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 0.9.1 (2025-07-29) 6 | ------------------ 7 | * fix setuptools deprecations (`#16 `_) 8 | * Contributors: mosfet80 9 | 10 | 0.9.0 (2025-04-25) 11 | ------------------ 12 | 13 | 0.8.0 (2024-11-20) 14 | ------------------ 15 | * Add in test_xmllint to ros2test. (`#13 `_) 16 | * Contributors: Chris Lalancette 17 | 18 | 0.7.0 (2024-04-26) 19 | ------------------ 20 | 21 | 0.6.0 (2023-04-28) 22 | ------------------ 23 | 24 | 0.5.2 (2023-02-13) 25 | ------------------ 26 | * [rolling] Update maintainers - 2022-11-07 (`#12 `_) 27 | * Contributors: Audrow Nash 28 | 29 | 0.5.1 (2022-09-13) 30 | ------------------ 31 | * update maintainer 32 | * Contributors: Dharini Dutia, quarkytale 33 | 34 | 0.5.0 (2022-04-29) 35 | ------------------ 36 | 37 | 0.4.0 (2022-01-13) 38 | ------------------ 39 | * Use new domain_coordinator API (`#10 `_) 40 | * Contributors: Timo Röhling 41 | 42 | 0.3.0 (2021-03-19) 43 | ------------------ 44 | * Add pytest.ini so local tests don't display warning (`#8 `_) 45 | * Contributors: Chris Lalancette 46 | 47 | 0.2.1 (2020-04-30) 48 | ------------------ 49 | * More verbose test_flake8 error messages (same as `ros2/launch_ros#135 `_) 50 | * Contributors: Dirk Thomas 51 | 52 | 0.2.0 (2019-09-26) 53 | ------------------ 54 | * install resource marker file for package (`#5 `_) 55 | * install package manifest (`#4 `_) 56 | * Move --disable-isolation argument from launch_testing to ros2test (`#2 `_) 57 | * Contributors: Dirk Thomas, ivanpauno 58 | 59 | 0.1.0 (2019-05-20) 60 | ------------------ 61 | * Add ros_testing metapackage and ros2test CLI package (`#1 `_) 62 | * Contributors: Michel Hidalgo 63 | -------------------------------------------------------------------------------- /ros2test/ros2test/command/test.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | import contextlib 16 | import os 17 | 18 | import domain_coordinator 19 | import launch_testing.launch_test 20 | import launch_testing_ros 21 | 22 | from ros2cli.command import CommandExtension 23 | 24 | 25 | class TestCommand(CommandExtension): 26 | """Run a ROS2 launch test.""" 27 | 28 | def add_arguments(self, parser, cli_name): 29 | """Add arguments to argparse.""" 30 | launch_testing.launch_test.add_arguments(parser) 31 | parser.add_argument( 32 | '--disable-isolation', action='store_true', default=False, 33 | help='Disable automatic ROS_DOMAIN_ID isolation.' 34 | 'If ROS_DOMAIN_ID is already set, ros2 test will respect and use it. If it is not' 35 | ' set, a ROS_DOMAIN_ID not being used by another ros2 test will be chosen ' 36 | 'unless isolation is disabled.' 37 | ) 38 | 39 | def main(self, *, parser, args): 40 | """Entry point for CLI program.""" 41 | with contextlib.ExitStack() as stack: 42 | if 'ROS_DOMAIN_ID' not in os.environ and not args.disable_isolation: 43 | domain_id = stack.enter_context(domain_coordinator.domain_id()) 44 | print('Running with ROS_DOMAIN_ID {}'.format(domain_id)) 45 | os.environ['ROS_DOMAIN_ID'] = str(domain_id) 46 | if 'ROS_DOMAIN_ID' in os.environ: 47 | print('ROS_DOMAIN_ID', os.environ['ROS_DOMAIN_ID']) 48 | return launch_testing.launch_test.run( 49 | parser, args, test_runner_cls=launch_testing_ros.LaunchTestRunner 50 | ) 51 | -------------------------------------------------------------------------------- /ros_testing/cmake/add_ros_test.cmake: -------------------------------------------------------------------------------- 1 | # Copyright 2019 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | # This file contains modified code from the following open source projects 16 | # published under the licenses listed below: 17 | 18 | # Software License Agreement (BSD License) 19 | # 20 | # Copyright (c) 2008, Willow Garage, Inc. 21 | # All rights reserved. 22 | # 23 | # Redistribution and use in source and binary forms, with or without 24 | # modification, are permitted provided that the following conditions 25 | # are met: 26 | # 27 | # * Redistributions of source code must retain the above copyright 28 | # notice, this list of conditions and the following disclaimer. 29 | # * Redistributions in binary form must reproduce the above 30 | # copyright notice, this list of conditions and the following 31 | # disclaimer in the documentation and/or other materials provided 32 | # with the distribution. 33 | # * Neither the name of Willow Garage, Inc. nor the names of its 34 | # contributors may be used to endorse or promote products derived 35 | # from this software without specific prior written permission. 36 | # 37 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 38 | # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 39 | # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 40 | # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 41 | # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 42 | # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 43 | # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 44 | # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 45 | # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 46 | # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 47 | # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 48 | # POSSIBILITY OF SUCH DAMAGE. 49 | 50 | # 51 | # Add a ROS test 52 | # 53 | # :param file: The ROS launch test file containing the test to run 54 | # :type file: string 55 | # :param TARGET: The test target name 56 | # :type TARGET: string 57 | # :param TIMEOUT: The test timeout in seconds 58 | # :type TIMEOUT: integer 59 | # :param ARGS: Launch arguments to pass to the ROS launch test 60 | # :type ARGS: string 61 | function(add_ros_test filename) 62 | parse_launch_test_arguments(_ros_test ${filename} ${ARGN}) 63 | 64 | set(cmd 65 | "ros2" 66 | "test" 67 | "${_ros_test_FILE_NAME}" 68 | "${_ros_test_ARGS}" 69 | "--junit-xml=${_ros_test_RESULT_FILE}" 70 | "--package-name=${PROJECT_NAME}" 71 | ) 72 | 73 | ament_add_test( 74 | "${_ros_test_TARGET}" 75 | COMMAND ${cmd} 76 | OUTPUT_FILE "${CMAKE_BINARY_DIR}/ros_test/${_ros_test_TARGET}.txt" 77 | RESULT_FILE "${_ros_test_RESULT_FILE}" 78 | TIMEOUT "${_ros_test_TIMEOUT}" 79 | ${_ros_test_UNPARSED_ARGUMENTS} 80 | ) 81 | endfunction() 82 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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