ros publish subscribe test

ack.msg

string TOPIC = /ack
time ts

CMakeLists.txt

project(rosexample)
cmake_minimum_required(VERSION 3.1)
add_compile_options(-std=c++17)
find_package(catkin REQUIRED COMPONENTS roscpp rospy rostest std_msgs message_generation)
add_message_files(FILES  ack.msg)
generate_messages(DEPENDENCIES  std_msgs)
include_directories(${catkin_INCLUDE_DIRS})
add_rostest_gtest(tester tester.test tester.cpp)
add_dependencies(tester ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(tester ${catkin_LIBRARIES}  ${rostest_LIBRARIES} gtest)

tester.cpp

#include <ros/ros.h>
#include <gtest/gtest.h>
#include "ack.h"
TEST(MyTestSuite, pubSub)
{
    ros::NodeHandle nh;
    uint16_t h = 0;
    ros::Publisher pub = nh.advertise<ack>(ack::TOPIC, 0);
    ros::Subscriber sub = nh.subscribe<ack>(ack::TOPIC, 0, [&h](const ros::MessageEvent< ack const >& event) {
        auto msg = *(event.getConstMessage());
        h = 1U;
    });
    EXPECT_EQ(pub.getNumSubscribers(), 1U);
    EXPECT_EQ(sub.getNumPublishers(), 1U);
    boost::shared_ptr<ack> ack1(new ack);
    pub.publish(ack1);
    ros::spinOnce();
    EXPECT_EQ(h, 1U);
}
int main(int argc, char** argv) 
{
    testing::InitGoogleTest(&argc, argv);
    ros::init(argc, argv, "async_service_node_tester");
    return RUN_ALL_TESTS();
}

tester.test

<launch>
    <test pkg="rosexample" type="tester" test-name="tester" />
</launch>