ros2_medkit_integration_tests

Integration tests, demo nodes, and shared test utilities for ros2_medkit.

Overview

This package contains everything needed to validate the ros2_medkit system end-to-end:

• Demo nodes – automotive-themed C++ nodes (sensors, actuators, services, actions) that produce realistic ROS 2 traffic for testing
• Feature tests – focused tests that validate individual API features (data access, operations, faults, SSE, CORS, auth, etc.)
• Scenario tests – end-to-end stories that exercise multi-step workflows (fault lifecycle, action execution, discovery modes, subscriptions, etc.)
• Shared test library (ros2_medkit_test_utils) – base test case, launch helpers, and assertion utilities shared across all test files

Package Structure

ros2_medkit_integration_tests/
  demo_nodes/           # C++ demo node sources
  launch/               # demo_nodes.launch.py
  ros2_medkit_test_utils/
    __init__.py
    constants.py        # DEFAULT_PORT, timeouts
    coverage.py         # GCOV_PREFIX helpers for CI
    gateway_test_case.py  # GatewayTestCase base class
    launch_helpers.py   # create_test_launch(), DEMO_NODE_REGISTRY
  test/
    features/           # Focused API feature tests
    scenarios/          # End-to-end workflow tests

Running Tests

# Build everything
colcon build --symlink-install
source install/setup.bash

# All integration tests
colcon test --packages-select ros2_medkit_integration_tests
colcon test-result --verbose

# Single test
colcon test --packages-select ros2_medkit_integration_tests \
  --ctest-args -R test_data_read

# Feature tests only
colcon test --packages-select ros2_medkit_integration_tests \
  --ctest-args -L feature

# Scenario tests only
colcon test --packages-select ros2_medkit_integration_tests \
  --ctest-args -L scenario

Demo Nodes

Launch all demo nodes for manual testing or the web UI:

ros2 launch ros2_medkit_integration_tests demo_nodes.launch.py

Writing New Tests

Feature Test Template

Feature tests validate a single API capability:

```python from ros2_medkit_test_utils.gateway_test_case import GatewayTestCase from ros2_medkit_test_utils.launch_helpers import create_test_launch

def generate_test_description(): return create_test_launch( demo_nodes=[‘temp_sensor’], fault_manager=False, )

class TestMyFeature(GatewayTestCase): MIN_EXPECTED_APPS = 1 REQUIRED_APPS = {‘temp_sensor’}

def test_something(self):

File truncated at 100 lines see the full file

Changelog for package ros2_medkit_integration_tests

0.3.0 (2026-02-27)

• Refactored integration test suite into dedicated ros2_medkit_integration_tests package (#227)
• Multi-distro CI support for ROS 2 Humble, Jazzy, and Rolling (#219, #242)
• Contributors: \@bburda