Configuring rostest

Use rostest whenever your unit tests require a roscore for running ROS nodes.

package.xml

Declare rostest as a test dependency, along with any other test-only dependencies:

<test_depend>rostest</test_depend>

CMakeLists.txt

You need a find_package() for rostest to define the necessary CMake commands. It is better not to use a second find_package(catkin ...) for test dependencies like rostest, because that would reset important catkin CMake variables, making it hard to build test programs.

Place both the find_package() and your test declarations inside the conditional testing block:

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

If your rostest also uses a gtest executable, there is a convenience function:

if (CATKIN_ENABLE_TESTING)
  add_rostest_gtest(your_gtest_node
                    tests/your_third_rostest.test
                    tests/your_gtest_node.cpp)
  target_link_libraries(your_gtest_node ${catkin_LIBRARIES})
endif()

Any additional library dependencies would be added to the target_link_libraries(), as usual.

For more details on writing and running rostests, see the rostest documentation.