Part3: Developing a ROS C++ package
gTest and rostest
We looked at CMakeLists.txt and package.xml in Part2. The aim here is to add simple tests to verify the functionality of each of the functions or modules that is added to the project. This will also ensure that the package is not broken by adding something new to the catkin package. At the end of the CMakeLists.txt, add the following
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
if(CATKIN_ENABLE_TESTING)
find_package(rostest REQUIRED)
add_rostest_gtest(
test_one
test/test_one.test
test/test_one.cpp
)
target_link_libraries(
test_one
${catkin_LIBRARIES}
)
add_dependencies(
test_one
${catkin_EXPORTED_TARGETS}
)
catkin_add_gtest(
test_two
test/test_two.cpp
src/hello.cpp
src/add.cpp
)
target_link_libraries(
test_two
${catkin_LIBRARIES}
)
rostest is basically the testing of your newly added function or module for compatibility with the ROS ecosystem. This is well documented here. Add a folder test in the same level as include (or src). add_rostest_gtest() is the function that enables testing which needs a name (test_one), a .test or .launch file and atleast one source file (test_one.cpp). The main difference between rostest and gtest is the lack of .test file. The rostest is invoked by using rosrun package_name test_one.test where the test_one.test would contain
<launch>
<test pkg="package_name" test-name="test_one" type="test_one" />
</launch>
The structure of test_one.cpp would be
#include <ros/ros.h>
#include <gtest/gtest.h>
#include <my_test_package/greet/hello.h>
TEST(TESTSuite, my_test1)
{
ros::NodeHandle nh;
ros::AsyncSpinner spinner(1); spinner.start();
// define or find out a, b
EXPECT_EQ(a, b);
bool success = your_function();
EXPECT_TRUE(success);
std::cout<<" ::::::: "<<std::endl;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "moveit_ik_solutions");
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
The functions EXPECT_EQ (for equality), EXPECT_TRUE (for boolean) are used to make sure if the test is run successfully or not. There are other functions as well which are well documented here. For diving deep, take a look at Google Test
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