Configuring rostest

Rostest is needed whenever unit tests require a roscore for running ROS nodes.

package.xml

The rostest package is needed at build time, because it defines the add_rostest() CMake command:

<build_depend>rostest</build_depend>

Do not declare a <test_depend>, because it will conflict with the required <build_depend>.

CMakeLists.txt

You must also include rostest in your find_package() components. Since these dependencies are for tests only you should find them in a second invocation inside a conditional block:

if (CATKIN_ENABLE_TESTING)
  find_package(catkin REQUIRED COMPONENTS rostest ...)
endif()

Finally, declare your rostest launch scripts:

if (CATKIN_ENABLE_TESTING)
  add_rostest(tests/your_first_rostest.test)
  add_rostest(tests/your_second_rostest.test)
endif()

If your rostest should contain a gtest executable you can use the following convenient function:

if (CATKIN_ENABLE_TESTING)
  add_rostest_gtest(your_third_rostest_target tests/your_third_rostest.test src/test/your_third_rostest.cpp [more cpp files])
  target_link_libraries(your_third_rostest_target [libraries to depend on, e.g. ${catkin_LIBRARIES}])
endif()

For more information how to write and run rostests please go to the Rostest wiki page.