Example test files

CLASS_FILE_NAME_test.cpp

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/* Author: FIRST_NAME LAST_NAME
   Desc: TODO:(EMAIL_ADDRESS)
*/

/** EXAMPLES:
    EXPECT_FALSE(robot_state.hasFixedLinks());
    EXPECT_EQ(robot_state.getFixedLinksCount(), 0);
    EXPECT_TRUE(robot_state.getPrimaryFixedLink() == NULL);
    EXPECT_GT(robot_state.getFixedLinksMode(), 0);
    EXPECT_LT( fabs(vars[0] - 0), EPSILON) << "Virtual joint in wrong position " << vars[0];
*/

// C++
#include <string>

// ROS
#include <ros/ros.h>

// Testing
#include <gtest/gtest.h>

namespace PACKAGE_NAME
{

class CLASS_NAMETest : public ::testing::Test
{
public:
  CLASS_NAMETest() : nh_("~")
  {}

protected:
  ros::NodeHandle nh_;
};  // class CLASS_NAMETest

TEST_F(CLASS_NAMETest, ConstructDestruct) { ASSERT_TRUE(base.initialize()); }

TEST_F(CLASS_NAMETest, NameOfTest)
{
  bool test = true;
  EXPECT_TRUE(test);
}

} // namespace PACKAGE_NAME

int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "SHORT_NAME");

  ros::AsyncSpinner spinner(1);
  spinner.start();

  int result = RUN_ALL_TESTS();

  spinner.stop();
  ros::shutdown();
  return result;
}

CLASS_FILE_NAME_test.test

<?xml version="1.0" encoding="utf-8"?>
<launch>
  <test pkg="PACKAGE_NAME" type="CLASS_FILE_NAME_test" test-name="CLASS_FILE_NAME_test" time-limit="300" args="">
    <rosparam command="load" file="$(find PACKAGE_NAME)/config/example.yaml"/>
  </test>
</launch>

CMakeLists.txt

#############
## Testing ##
#############

if(CATKIN_ENABLE_TESTING)
  find_package(rostest REQUIRED)

  add_rostest_gtest(ros_test test/ros_test.test test/ros_test.cpp)
  target_link_libraries(ros_test
    ${PROJECT_NAME}
    ${catkin_LIBRARIES}
    ${Boost_LIBRARIES}
  )

endif()