You're reading the documentation for an older, but still supported, version of ROS 2. For information on the latest version, please have a look at Iron.

Running Tests in ROS 2 from the Command Line

Build and run your tests

To compile and run the tests, simply run the test verb from colcon.

colcon test --ctest-args tests [package_selection_args]

(where package_selection_args are optional package selection arguments for colcon to limit which packages are built and run)

Sourcing the workspace before testing should not be necessary. colcon test makes sure that the tests run with the right environment, have access to their dependencies, etc.

Examine Test Results

To see the results, simply run the test-result verb from colcon.

colcon test-result --all

To see the exact test cases which fail, use the --verbose flag:

colcon test-result --all --verbose

Debugging tests with GDB

If a C++ test is failing, gdb can be used directly on the test executable in the build directory. Ensure to build the code in debug mode. Since the previous build type may be cached by CMake, clean the cache and rebuild.

colcon build --cmake-clean-cache --mixin debug

Next, run the test directly through gdb. For example:

gdb -ex run ./build/rcl/test/test_logging