All unit tests can be run by invoking the run_tests target:
catkin_make run_tests
It will make sure that the tests target which builds all unit tests is invoked before.
Besides the global run_tests target each individual gtest / nosetest / rostest can be triggered via its own target, e.g.:
catkin_make run_tests_packagename_gtest_mytest
The list of available test targets can be explored by using the target completion of catkin_make:
catkin_make run_tests<TAB><TAB>
Using these target it is also possible to run all unit tests of a package or all tests from a package of a specific type:
catkin_make run_tests_packagename
catkin_make run_tests_packagename_gtest
After running unit tests the results are by default placed into the test_results folder which is located inside the build folder. Each unit test will generate a JUnit XML result file.
To get a summary of the unit test results as well as references to which tests contain errors or failed invoke:
catkin_test_results build/test_results