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wato_test package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ language generic utilities, independent of any other dependencies or frameworks

Maintainers

  • WATonomous

Authors

No additional authors.
src/wato_test/README.md

wato_test

A ROS 2 testing framework built on Catch2 that provides test fixtures and utilities for testing ROS nodes, services, and communication patterns.

Features

  • TestExecutorFixture: Manages ROS executor lifecycle for tests
  • Test Nodes: Pre-built nodes for testing publishers, subscribers, services, and clients
    • Discovery Waiting: PublisherTestNode::wait_for_subscribers() and SubscriberTestNode::wait_for_publishers() poll DDS discovery state with a timeout, replacing fragile hardcoded sleeps
    • Future-based Messaging: SubscriberTestNode::expect_next_message() returns a std::future that resolves when the next message arrives
  • CMake Integration: Simple add_wato_test() function for creating tests
  • Catch2 Integration: Built on Catch2 for modern C++ testing

Quick Start

#include <catch2/catch_all.hpp>
#include <std_msgs/msg/string.hpp>
#include <wato_test/wato_test.hpp>

#include "test_nodes/publisher_test_node.hpp"
#include "test_nodes/subscriber_test_node.hpp"

TEST_CASE_METHOD(wato::test::TestExecutorFixture, "My ROS Test", "[ros]") {
  auto pub = std::make_shared<wato::test::PublisherTestNode<std_msgs::msg::String>>("/topic", "pub");
  auto sub = std::make_shared<wato::test::SubscriberTestNode<std_msgs::msg::String>>("/topic", "sub");
  add_node(pub);
  add_node(sub);
  start_spinning();

  // Wait for DDS discovery (replaces hardcoded sleeps)
  REQUIRE(pub->wait_for_subscribers(1));
  REQUIRE(sub->wait_for_publishers(1));

  SECTION("Publish and receive") {
    auto future = sub->expect_next_message();

    std_msgs::msg::String msg;
    msg.data = "hello";
    pub->publish(msg);

    REQUIRE(future.get().data == "hello");
  }
}

Package.xml Usage

<test_depend>wato_test</test_depend>

CMake Usage

find_package(wato_test REQUIRED)

add_wato_test(my_test
  test/my_test.cpp
  LIBRARIES
    my_package::my_library
    std_msgs::std_msgs
)
CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged wato_test at Robotics Stack Exchange

Package symbol

wato_test package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ language generic utilities, independent of any other dependencies or frameworks

Maintainers

  • WATonomous

Authors

No additional authors.
src/wato_test/README.md

wato_test

A ROS 2 testing framework built on Catch2 that provides test fixtures and utilities for testing ROS nodes, services, and communication patterns.

Features

  • TestExecutorFixture: Manages ROS executor lifecycle for tests
  • Test Nodes: Pre-built nodes for testing publishers, subscribers, services, and clients
    • Discovery Waiting: PublisherTestNode::wait_for_subscribers() and SubscriberTestNode::wait_for_publishers() poll DDS discovery state with a timeout, replacing fragile hardcoded sleeps
    • Future-based Messaging: SubscriberTestNode::expect_next_message() returns a std::future that resolves when the next message arrives
  • CMake Integration: Simple add_wato_test() function for creating tests
  • Catch2 Integration: Built on Catch2 for modern C++ testing

Quick Start

#include <catch2/catch_all.hpp>
#include <std_msgs/msg/string.hpp>
#include <wato_test/wato_test.hpp>

#include "test_nodes/publisher_test_node.hpp"
#include "test_nodes/subscriber_test_node.hpp"

TEST_CASE_METHOD(wato::test::TestExecutorFixture, "My ROS Test", "[ros]") {
  auto pub = std::make_shared<wato::test::PublisherTestNode<std_msgs::msg::String>>("/topic", "pub");
  auto sub = std::make_shared<wato::test::SubscriberTestNode<std_msgs::msg::String>>("/topic", "sub");
  add_node(pub);
  add_node(sub);
  start_spinning();

  // Wait for DDS discovery (replaces hardcoded sleeps)
  REQUIRE(pub->wait_for_subscribers(1));
  REQUIRE(sub->wait_for_publishers(1));

  SECTION("Publish and receive") {
    auto future = sub->expect_next_message();

    std_msgs::msg::String msg;
    msg.data = "hello";
    pub->publish(msg);

    REQUIRE(future.get().data == "hello");
  }
}

Package.xml Usage

<test_depend>wato_test</test_depend>

CMake Usage

find_package(wato_test REQUIRED)

add_wato_test(my_test
  test/my_test.cpp
  LIBRARIES
    my_package::my_library
    std_msgs::std_msgs
)
CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged wato_test at Robotics Stack Exchange

No version for distro kilted showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

wato_test package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ language generic utilities, independent of any other dependencies or frameworks

Maintainers

  • WATonomous

Authors

No additional authors.
src/wato_test/README.md

wato_test

A ROS 2 testing framework built on Catch2 that provides test fixtures and utilities for testing ROS nodes, services, and communication patterns.

Features

  • TestExecutorFixture: Manages ROS executor lifecycle for tests
  • Test Nodes: Pre-built nodes for testing publishers, subscribers, services, and clients
    • Discovery Waiting: PublisherTestNode::wait_for_subscribers() and SubscriberTestNode::wait_for_publishers() poll DDS discovery state with a timeout, replacing fragile hardcoded sleeps
    • Future-based Messaging: SubscriberTestNode::expect_next_message() returns a std::future that resolves when the next message arrives
  • CMake Integration: Simple add_wato_test() function for creating tests
  • Catch2 Integration: Built on Catch2 for modern C++ testing

Quick Start

#include <catch2/catch_all.hpp>
#include <std_msgs/msg/string.hpp>
#include <wato_test/wato_test.hpp>

#include "test_nodes/publisher_test_node.hpp"
#include "test_nodes/subscriber_test_node.hpp"

TEST_CASE_METHOD(wato::test::TestExecutorFixture, "My ROS Test", "[ros]") {
  auto pub = std::make_shared<wato::test::PublisherTestNode<std_msgs::msg::String>>("/topic", "pub");
  auto sub = std::make_shared<wato::test::SubscriberTestNode<std_msgs::msg::String>>("/topic", "sub");
  add_node(pub);
  add_node(sub);
  start_spinning();

  // Wait for DDS discovery (replaces hardcoded sleeps)
  REQUIRE(pub->wait_for_subscribers(1));
  REQUIRE(sub->wait_for_publishers(1));

  SECTION("Publish and receive") {
    auto future = sub->expect_next_message();

    std_msgs::msg::String msg;
    msg.data = "hello";
    pub->publish(msg);

    REQUIRE(future.get().data == "hello");
  }
}

Package.xml Usage

<test_depend>wato_test</test_depend>

CMake Usage

find_package(wato_test REQUIRED)

add_wato_test(my_test
  test/my_test.cpp
  LIBRARIES
    my_package::my_library
    std_msgs::std_msgs
)
CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged wato_test at Robotics Stack Exchange

No version for distro lyrical showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

wato_test package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ language generic utilities, independent of any other dependencies or frameworks

Maintainers

  • WATonomous

Authors

No additional authors.
src/wato_test/README.md

wato_test

A ROS 2 testing framework built on Catch2 that provides test fixtures and utilities for testing ROS nodes, services, and communication patterns.

Features

  • TestExecutorFixture: Manages ROS executor lifecycle for tests
  • Test Nodes: Pre-built nodes for testing publishers, subscribers, services, and clients
    • Discovery Waiting: PublisherTestNode::wait_for_subscribers() and SubscriberTestNode::wait_for_publishers() poll DDS discovery state with a timeout, replacing fragile hardcoded sleeps
    • Future-based Messaging: SubscriberTestNode::expect_next_message() returns a std::future that resolves when the next message arrives
  • CMake Integration: Simple add_wato_test() function for creating tests
  • Catch2 Integration: Built on Catch2 for modern C++ testing

Quick Start

#include <catch2/catch_all.hpp>
#include <std_msgs/msg/string.hpp>
#include <wato_test/wato_test.hpp>

#include "test_nodes/publisher_test_node.hpp"
#include "test_nodes/subscriber_test_node.hpp"

TEST_CASE_METHOD(wato::test::TestExecutorFixture, "My ROS Test", "[ros]") {
  auto pub = std::make_shared<wato::test::PublisherTestNode<std_msgs::msg::String>>("/topic", "pub");
  auto sub = std::make_shared<wato::test::SubscriberTestNode<std_msgs::msg::String>>("/topic", "sub");
  add_node(pub);
  add_node(sub);
  start_spinning();

  // Wait for DDS discovery (replaces hardcoded sleeps)
  REQUIRE(pub->wait_for_subscribers(1));
  REQUIRE(sub->wait_for_publishers(1));

  SECTION("Publish and receive") {
    auto future = sub->expect_next_message();

    std_msgs::msg::String msg;
    msg.data = "hello";
    pub->publish(msg);

    REQUIRE(future.get().data == "hello");
  }
}

Package.xml Usage

<test_depend>wato_test</test_depend>

CMake Usage

find_package(wato_test REQUIRED)

add_wato_test(my_test
  test/my_test.cpp
  LIBRARIES
    my_package::my_library
    std_msgs::std_msgs
)
CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged wato_test at Robotics Stack Exchange

No version for distro rolling showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

wato_test package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ language generic utilities, independent of any other dependencies or frameworks

Maintainers

  • WATonomous

Authors

No additional authors.
src/wato_test/README.md

wato_test

A ROS 2 testing framework built on Catch2 that provides test fixtures and utilities for testing ROS nodes, services, and communication patterns.

Features

  • TestExecutorFixture: Manages ROS executor lifecycle for tests
  • Test Nodes: Pre-built nodes for testing publishers, subscribers, services, and clients
    • Discovery Waiting: PublisherTestNode::wait_for_subscribers() and SubscriberTestNode::wait_for_publishers() poll DDS discovery state with a timeout, replacing fragile hardcoded sleeps
    • Future-based Messaging: SubscriberTestNode::expect_next_message() returns a std::future that resolves when the next message arrives
  • CMake Integration: Simple add_wato_test() function for creating tests
  • Catch2 Integration: Built on Catch2 for modern C++ testing

Quick Start

#include <catch2/catch_all.hpp>
#include <std_msgs/msg/string.hpp>
#include <wato_test/wato_test.hpp>

#include "test_nodes/publisher_test_node.hpp"
#include "test_nodes/subscriber_test_node.hpp"

TEST_CASE_METHOD(wato::test::TestExecutorFixture, "My ROS Test", "[ros]") {
  auto pub = std::make_shared<wato::test::PublisherTestNode<std_msgs::msg::String>>("/topic", "pub");
  auto sub = std::make_shared<wato::test::SubscriberTestNode<std_msgs::msg::String>>("/topic", "sub");
  add_node(pub);
  add_node(sub);
  start_spinning();

  // Wait for DDS discovery (replaces hardcoded sleeps)
  REQUIRE(pub->wait_for_subscribers(1));
  REQUIRE(sub->wait_for_publishers(1));

  SECTION("Publish and receive") {
    auto future = sub->expect_next_message();

    std_msgs::msg::String msg;
    msg.data = "hello";
    pub->publish(msg);

    REQUIRE(future.get().data == "hello");
  }
}

Package.xml Usage

<test_depend>wato_test</test_depend>

CMake Usage

find_package(wato_test REQUIRED)

add_wato_test(my_test
  test/my_test.cpp
  LIBRARIES
    my_package::my_library
    std_msgs::std_msgs
)
CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged wato_test at Robotics Stack Exchange

No version for distro ardent showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

wato_test package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ language generic utilities, independent of any other dependencies or frameworks

Maintainers

  • WATonomous

Authors

No additional authors.
src/wato_test/README.md

wato_test

A ROS 2 testing framework built on Catch2 that provides test fixtures and utilities for testing ROS nodes, services, and communication patterns.

Features

  • TestExecutorFixture: Manages ROS executor lifecycle for tests
  • Test Nodes: Pre-built nodes for testing publishers, subscribers, services, and clients
    • Discovery Waiting: PublisherTestNode::wait_for_subscribers() and SubscriberTestNode::wait_for_publishers() poll DDS discovery state with a timeout, replacing fragile hardcoded sleeps
    • Future-based Messaging: SubscriberTestNode::expect_next_message() returns a std::future that resolves when the next message arrives
  • CMake Integration: Simple add_wato_test() function for creating tests
  • Catch2 Integration: Built on Catch2 for modern C++ testing

Quick Start

#include <catch2/catch_all.hpp>
#include <std_msgs/msg/string.hpp>
#include <wato_test/wato_test.hpp>

#include "test_nodes/publisher_test_node.hpp"
#include "test_nodes/subscriber_test_node.hpp"

TEST_CASE_METHOD(wato::test::TestExecutorFixture, "My ROS Test", "[ros]") {
  auto pub = std::make_shared<wato::test::PublisherTestNode<std_msgs::msg::String>>("/topic", "pub");
  auto sub = std::make_shared<wato::test::SubscriberTestNode<std_msgs::msg::String>>("/topic", "sub");
  add_node(pub);
  add_node(sub);
  start_spinning();

  // Wait for DDS discovery (replaces hardcoded sleeps)
  REQUIRE(pub->wait_for_subscribers(1));
  REQUIRE(sub->wait_for_publishers(1));

  SECTION("Publish and receive") {
    auto future = sub->expect_next_message();

    std_msgs::msg::String msg;
    msg.data = "hello";
    pub->publish(msg);

    REQUIRE(future.get().data == "hello");
  }
}

Package.xml Usage

<test_depend>wato_test</test_depend>

CMake Usage

find_package(wato_test REQUIRED)

add_wato_test(my_test
  test/my_test.cpp
  LIBRARIES
    my_package::my_library
    std_msgs::std_msgs
)
CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged wato_test at Robotics Stack Exchange

No version for distro bouncy showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

wato_test package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ language generic utilities, independent of any other dependencies or frameworks

Maintainers

  • WATonomous

Authors

No additional authors.
src/wato_test/README.md

wato_test

A ROS 2 testing framework built on Catch2 that provides test fixtures and utilities for testing ROS nodes, services, and communication patterns.

Features

  • TestExecutorFixture: Manages ROS executor lifecycle for tests
  • Test Nodes: Pre-built nodes for testing publishers, subscribers, services, and clients
    • Discovery Waiting: PublisherTestNode::wait_for_subscribers() and SubscriberTestNode::wait_for_publishers() poll DDS discovery state with a timeout, replacing fragile hardcoded sleeps
    • Future-based Messaging: SubscriberTestNode::expect_next_message() returns a std::future that resolves when the next message arrives
  • CMake Integration: Simple add_wato_test() function for creating tests
  • Catch2 Integration: Built on Catch2 for modern C++ testing

Quick Start

#include <catch2/catch_all.hpp>
#include <std_msgs/msg/string.hpp>
#include <wato_test/wato_test.hpp>

#include "test_nodes/publisher_test_node.hpp"
#include "test_nodes/subscriber_test_node.hpp"

TEST_CASE_METHOD(wato::test::TestExecutorFixture, "My ROS Test", "[ros]") {
  auto pub = std::make_shared<wato::test::PublisherTestNode<std_msgs::msg::String>>("/topic", "pub");
  auto sub = std::make_shared<wato::test::SubscriberTestNode<std_msgs::msg::String>>("/topic", "sub");
  add_node(pub);
  add_node(sub);
  start_spinning();

  // Wait for DDS discovery (replaces hardcoded sleeps)
  REQUIRE(pub->wait_for_subscribers(1));
  REQUIRE(sub->wait_for_publishers(1));

  SECTION("Publish and receive") {
    auto future = sub->expect_next_message();

    std_msgs::msg::String msg;
    msg.data = "hello";
    pub->publish(msg);

    REQUIRE(future.get().data == "hello");
  }
}

Package.xml Usage

<test_depend>wato_test</test_depend>

CMake Usage

find_package(wato_test REQUIRED)

add_wato_test(my_test
  test/my_test.cpp
  LIBRARIES
    my_package::my_library
    std_msgs::std_msgs
)
CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged wato_test at Robotics Stack Exchange

No version for distro crystal showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

wato_test package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ language generic utilities, independent of any other dependencies or frameworks

Maintainers

  • WATonomous

Authors

No additional authors.
src/wato_test/README.md

wato_test

A ROS 2 testing framework built on Catch2 that provides test fixtures and utilities for testing ROS nodes, services, and communication patterns.

Features

  • TestExecutorFixture: Manages ROS executor lifecycle for tests
  • Test Nodes: Pre-built nodes for testing publishers, subscribers, services, and clients
    • Discovery Waiting: PublisherTestNode::wait_for_subscribers() and SubscriberTestNode::wait_for_publishers() poll DDS discovery state with a timeout, replacing fragile hardcoded sleeps
    • Future-based Messaging: SubscriberTestNode::expect_next_message() returns a std::future that resolves when the next message arrives
  • CMake Integration: Simple add_wato_test() function for creating tests
  • Catch2 Integration: Built on Catch2 for modern C++ testing

Quick Start

#include <catch2/catch_all.hpp>
#include <std_msgs/msg/string.hpp>
#include <wato_test/wato_test.hpp>

#include "test_nodes/publisher_test_node.hpp"
#include "test_nodes/subscriber_test_node.hpp"

TEST_CASE_METHOD(wato::test::TestExecutorFixture, "My ROS Test", "[ros]") {
  auto pub = std::make_shared<wato::test::PublisherTestNode<std_msgs::msg::String>>("/topic", "pub");
  auto sub = std::make_shared<wato::test::SubscriberTestNode<std_msgs::msg::String>>("/topic", "sub");
  add_node(pub);
  add_node(sub);
  start_spinning();

  // Wait for DDS discovery (replaces hardcoded sleeps)
  REQUIRE(pub->wait_for_subscribers(1));
  REQUIRE(sub->wait_for_publishers(1));

  SECTION("Publish and receive") {
    auto future = sub->expect_next_message();

    std_msgs::msg::String msg;
    msg.data = "hello";
    pub->publish(msg);

    REQUIRE(future.get().data == "hello");
  }
}

Package.xml Usage

<test_depend>wato_test</test_depend>

CMake Usage

find_package(wato_test REQUIRED)

add_wato_test(my_test
  test/my_test.cpp
  LIBRARIES
    my_package::my_library
    std_msgs::std_msgs
)
CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged wato_test at Robotics Stack Exchange

No version for distro eloquent showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

wato_test package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ language generic utilities, independent of any other dependencies or frameworks

Maintainers

  • WATonomous

Authors

No additional authors.
src/wato_test/README.md

wato_test

A ROS 2 testing framework built on Catch2 that provides test fixtures and utilities for testing ROS nodes, services, and communication patterns.

Features

  • TestExecutorFixture: Manages ROS executor lifecycle for tests
  • Test Nodes: Pre-built nodes for testing publishers, subscribers, services, and clients
    • Discovery Waiting: PublisherTestNode::wait_for_subscribers() and SubscriberTestNode::wait_for_publishers() poll DDS discovery state with a timeout, replacing fragile hardcoded sleeps
    • Future-based Messaging: SubscriberTestNode::expect_next_message() returns a std::future that resolves when the next message arrives
  • CMake Integration: Simple add_wato_test() function for creating tests
  • Catch2 Integration: Built on Catch2 for modern C++ testing

Quick Start

#include <catch2/catch_all.hpp>
#include <std_msgs/msg/string.hpp>
#include <wato_test/wato_test.hpp>

#include "test_nodes/publisher_test_node.hpp"
#include "test_nodes/subscriber_test_node.hpp"

TEST_CASE_METHOD(wato::test::TestExecutorFixture, "My ROS Test", "[ros]") {
  auto pub = std::make_shared<wato::test::PublisherTestNode<std_msgs::msg::String>>("/topic", "pub");
  auto sub = std::make_shared<wato::test::SubscriberTestNode<std_msgs::msg::String>>("/topic", "sub");
  add_node(pub);
  add_node(sub);
  start_spinning();

  // Wait for DDS discovery (replaces hardcoded sleeps)
  REQUIRE(pub->wait_for_subscribers(1));
  REQUIRE(sub->wait_for_publishers(1));

  SECTION("Publish and receive") {
    auto future = sub->expect_next_message();

    std_msgs::msg::String msg;
    msg.data = "hello";
    pub->publish(msg);

    REQUIRE(future.get().data == "hello");
  }
}

Package.xml Usage

<test_depend>wato_test</test_depend>

CMake Usage

find_package(wato_test REQUIRED)

add_wato_test(my_test
  test/my_test.cpp
  LIBRARIES
    my_package::my_library
    std_msgs::std_msgs
)
CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged wato_test at Robotics Stack Exchange

No version for distro dashing showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

wato_test package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ language generic utilities, independent of any other dependencies or frameworks

Maintainers

  • WATonomous

Authors

No additional authors.
src/wato_test/README.md

wato_test

A ROS 2 testing framework built on Catch2 that provides test fixtures and utilities for testing ROS nodes, services, and communication patterns.

Features

  • TestExecutorFixture: Manages ROS executor lifecycle for tests
  • Test Nodes: Pre-built nodes for testing publishers, subscribers, services, and clients
    • Discovery Waiting: PublisherTestNode::wait_for_subscribers() and SubscriberTestNode::wait_for_publishers() poll DDS discovery state with a timeout, replacing fragile hardcoded sleeps
    • Future-based Messaging: SubscriberTestNode::expect_next_message() returns a std::future that resolves when the next message arrives
  • CMake Integration: Simple add_wato_test() function for creating tests
  • Catch2 Integration: Built on Catch2 for modern C++ testing

Quick Start

#include <catch2/catch_all.hpp>
#include <std_msgs/msg/string.hpp>
#include <wato_test/wato_test.hpp>

#include "test_nodes/publisher_test_node.hpp"
#include "test_nodes/subscriber_test_node.hpp"

TEST_CASE_METHOD(wato::test::TestExecutorFixture, "My ROS Test", "[ros]") {
  auto pub = std::make_shared<wato::test::PublisherTestNode<std_msgs::msg::String>>("/topic", "pub");
  auto sub = std::make_shared<wato::test::SubscriberTestNode<std_msgs::msg::String>>("/topic", "sub");
  add_node(pub);
  add_node(sub);
  start_spinning();

  // Wait for DDS discovery (replaces hardcoded sleeps)
  REQUIRE(pub->wait_for_subscribers(1));
  REQUIRE(sub->wait_for_publishers(1));

  SECTION("Publish and receive") {
    auto future = sub->expect_next_message();

    std_msgs::msg::String msg;
    msg.data = "hello";
    pub->publish(msg);

    REQUIRE(future.get().data == "hello");
  }
}

Package.xml Usage

<test_depend>wato_test</test_depend>

CMake Usage

find_package(wato_test REQUIRED)

add_wato_test(my_test
  test/my_test.cpp
  LIBRARIES
    my_package::my_library
    std_msgs::std_msgs
)
CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged wato_test at Robotics Stack Exchange

No version for distro galactic showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

wato_test package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ language generic utilities, independent of any other dependencies or frameworks

Maintainers

  • WATonomous

Authors

No additional authors.
src/wato_test/README.md

wato_test

A ROS 2 testing framework built on Catch2 that provides test fixtures and utilities for testing ROS nodes, services, and communication patterns.

Features

  • TestExecutorFixture: Manages ROS executor lifecycle for tests
  • Test Nodes: Pre-built nodes for testing publishers, subscribers, services, and clients
    • Discovery Waiting: PublisherTestNode::wait_for_subscribers() and SubscriberTestNode::wait_for_publishers() poll DDS discovery state with a timeout, replacing fragile hardcoded sleeps
    • Future-based Messaging: SubscriberTestNode::expect_next_message() returns a std::future that resolves when the next message arrives
  • CMake Integration: Simple add_wato_test() function for creating tests
  • Catch2 Integration: Built on Catch2 for modern C++ testing

Quick Start

#include <catch2/catch_all.hpp>
#include <std_msgs/msg/string.hpp>
#include <wato_test/wato_test.hpp>

#include "test_nodes/publisher_test_node.hpp"
#include "test_nodes/subscriber_test_node.hpp"

TEST_CASE_METHOD(wato::test::TestExecutorFixture, "My ROS Test", "[ros]") {
  auto pub = std::make_shared<wato::test::PublisherTestNode<std_msgs::msg::String>>("/topic", "pub");
  auto sub = std::make_shared<wato::test::SubscriberTestNode<std_msgs::msg::String>>("/topic", "sub");
  add_node(pub);
  add_node(sub);
  start_spinning();

  // Wait for DDS discovery (replaces hardcoded sleeps)
  REQUIRE(pub->wait_for_subscribers(1));
  REQUIRE(sub->wait_for_publishers(1));

  SECTION("Publish and receive") {
    auto future = sub->expect_next_message();

    std_msgs::msg::String msg;
    msg.data = "hello";
    pub->publish(msg);

    REQUIRE(future.get().data == "hello");
  }
}

Package.xml Usage

<test_depend>wato_test</test_depend>

CMake Usage

find_package(wato_test REQUIRED)

add_wato_test(my_test
  test/my_test.cpp
  LIBRARIES
    my_package::my_library
    std_msgs::std_msgs
)
CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged wato_test at Robotics Stack Exchange

No version for distro foxy showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

wato_test package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ language generic utilities, independent of any other dependencies or frameworks

Maintainers

  • WATonomous

Authors

No additional authors.
src/wato_test/README.md

wato_test

A ROS 2 testing framework built on Catch2 that provides test fixtures and utilities for testing ROS nodes, services, and communication patterns.

Features

  • TestExecutorFixture: Manages ROS executor lifecycle for tests
  • Test Nodes: Pre-built nodes for testing publishers, subscribers, services, and clients
    • Discovery Waiting: PublisherTestNode::wait_for_subscribers() and SubscriberTestNode::wait_for_publishers() poll DDS discovery state with a timeout, replacing fragile hardcoded sleeps
    • Future-based Messaging: SubscriberTestNode::expect_next_message() returns a std::future that resolves when the next message arrives
  • CMake Integration: Simple add_wato_test() function for creating tests
  • Catch2 Integration: Built on Catch2 for modern C++ testing

Quick Start

#include <catch2/catch_all.hpp>
#include <std_msgs/msg/string.hpp>
#include <wato_test/wato_test.hpp>

#include "test_nodes/publisher_test_node.hpp"
#include "test_nodes/subscriber_test_node.hpp"

TEST_CASE_METHOD(wato::test::TestExecutorFixture, "My ROS Test", "[ros]") {
  auto pub = std::make_shared<wato::test::PublisherTestNode<std_msgs::msg::String>>("/topic", "pub");
  auto sub = std::make_shared<wato::test::SubscriberTestNode<std_msgs::msg::String>>("/topic", "sub");
  add_node(pub);
  add_node(sub);
  start_spinning();

  // Wait for DDS discovery (replaces hardcoded sleeps)
  REQUIRE(pub->wait_for_subscribers(1));
  REQUIRE(sub->wait_for_publishers(1));

  SECTION("Publish and receive") {
    auto future = sub->expect_next_message();

    std_msgs::msg::String msg;
    msg.data = "hello";
    pub->publish(msg);

    REQUIRE(future.get().data == "hello");
  }
}

Package.xml Usage

<test_depend>wato_test</test_depend>

CMake Usage

find_package(wato_test REQUIRED)

add_wato_test(my_test
  test/my_test.cpp
  LIBRARIES
    my_package::my_library
    std_msgs::std_msgs
)
CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged wato_test at Robotics Stack Exchange

No version for distro iron showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

wato_test package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ language generic utilities, independent of any other dependencies or frameworks

Maintainers

  • WATonomous

Authors

No additional authors.
src/wato_test/README.md

wato_test

A ROS 2 testing framework built on Catch2 that provides test fixtures and utilities for testing ROS nodes, services, and communication patterns.

Features

  • TestExecutorFixture: Manages ROS executor lifecycle for tests
  • Test Nodes: Pre-built nodes for testing publishers, subscribers, services, and clients
    • Discovery Waiting: PublisherTestNode::wait_for_subscribers() and SubscriberTestNode::wait_for_publishers() poll DDS discovery state with a timeout, replacing fragile hardcoded sleeps
    • Future-based Messaging: SubscriberTestNode::expect_next_message() returns a std::future that resolves when the next message arrives
  • CMake Integration: Simple add_wato_test() function for creating tests
  • Catch2 Integration: Built on Catch2 for modern C++ testing

Quick Start

#include <catch2/catch_all.hpp>
#include <std_msgs/msg/string.hpp>
#include <wato_test/wato_test.hpp>

#include "test_nodes/publisher_test_node.hpp"
#include "test_nodes/subscriber_test_node.hpp"

TEST_CASE_METHOD(wato::test::TestExecutorFixture, "My ROS Test", "[ros]") {
  auto pub = std::make_shared<wato::test::PublisherTestNode<std_msgs::msg::String>>("/topic", "pub");
  auto sub = std::make_shared<wato::test::SubscriberTestNode<std_msgs::msg::String>>("/topic", "sub");
  add_node(pub);
  add_node(sub);
  start_spinning();

  // Wait for DDS discovery (replaces hardcoded sleeps)
  REQUIRE(pub->wait_for_subscribers(1));
  REQUIRE(sub->wait_for_publishers(1));

  SECTION("Publish and receive") {
    auto future = sub->expect_next_message();

    std_msgs::msg::String msg;
    msg.data = "hello";
    pub->publish(msg);

    REQUIRE(future.get().data == "hello");
  }
}

Package.xml Usage

<test_depend>wato_test</test_depend>

CMake Usage

find_package(wato_test REQUIRED)

add_wato_test(my_test
  test/my_test.cpp
  LIBRARIES
    my_package::my_library
    std_msgs::std_msgs
)
CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged wato_test at Robotics Stack Exchange

No version for distro lunar showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

wato_test package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ language generic utilities, independent of any other dependencies or frameworks

Maintainers

  • WATonomous

Authors

No additional authors.
src/wato_test/README.md

wato_test

A ROS 2 testing framework built on Catch2 that provides test fixtures and utilities for testing ROS nodes, services, and communication patterns.

Features

  • TestExecutorFixture: Manages ROS executor lifecycle for tests
  • Test Nodes: Pre-built nodes for testing publishers, subscribers, services, and clients
    • Discovery Waiting: PublisherTestNode::wait_for_subscribers() and SubscriberTestNode::wait_for_publishers() poll DDS discovery state with a timeout, replacing fragile hardcoded sleeps
    • Future-based Messaging: SubscriberTestNode::expect_next_message() returns a std::future that resolves when the next message arrives
  • CMake Integration: Simple add_wato_test() function for creating tests
  • Catch2 Integration: Built on Catch2 for modern C++ testing

Quick Start

#include <catch2/catch_all.hpp>
#include <std_msgs/msg/string.hpp>
#include <wato_test/wato_test.hpp>

#include "test_nodes/publisher_test_node.hpp"
#include "test_nodes/subscriber_test_node.hpp"

TEST_CASE_METHOD(wato::test::TestExecutorFixture, "My ROS Test", "[ros]") {
  auto pub = std::make_shared<wato::test::PublisherTestNode<std_msgs::msg::String>>("/topic", "pub");
  auto sub = std::make_shared<wato::test::SubscriberTestNode<std_msgs::msg::String>>("/topic", "sub");
  add_node(pub);
  add_node(sub);
  start_spinning();

  // Wait for DDS discovery (replaces hardcoded sleeps)
  REQUIRE(pub->wait_for_subscribers(1));
  REQUIRE(sub->wait_for_publishers(1));

  SECTION("Publish and receive") {
    auto future = sub->expect_next_message();

    std_msgs::msg::String msg;
    msg.data = "hello";
    pub->publish(msg);

    REQUIRE(future.get().data == "hello");
  }
}

Package.xml Usage

<test_depend>wato_test</test_depend>

CMake Usage

find_package(wato_test REQUIRED)

add_wato_test(my_test
  test/my_test.cpp
  LIBRARIES
    my_package::my_library
    std_msgs::std_msgs
)
CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged wato_test at Robotics Stack Exchange

No version for distro jade showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

wato_test package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ language generic utilities, independent of any other dependencies or frameworks

Maintainers

  • WATonomous

Authors

No additional authors.
src/wato_test/README.md

wato_test

A ROS 2 testing framework built on Catch2 that provides test fixtures and utilities for testing ROS nodes, services, and communication patterns.

Features

  • TestExecutorFixture: Manages ROS executor lifecycle for tests
  • Test Nodes: Pre-built nodes for testing publishers, subscribers, services, and clients
    • Discovery Waiting: PublisherTestNode::wait_for_subscribers() and SubscriberTestNode::wait_for_publishers() poll DDS discovery state with a timeout, replacing fragile hardcoded sleeps
    • Future-based Messaging: SubscriberTestNode::expect_next_message() returns a std::future that resolves when the next message arrives
  • CMake Integration: Simple add_wato_test() function for creating tests
  • Catch2 Integration: Built on Catch2 for modern C++ testing

Quick Start

#include <catch2/catch_all.hpp>
#include <std_msgs/msg/string.hpp>
#include <wato_test/wato_test.hpp>

#include "test_nodes/publisher_test_node.hpp"
#include "test_nodes/subscriber_test_node.hpp"

TEST_CASE_METHOD(wato::test::TestExecutorFixture, "My ROS Test", "[ros]") {
  auto pub = std::make_shared<wato::test::PublisherTestNode<std_msgs::msg::String>>("/topic", "pub");
  auto sub = std::make_shared<wato::test::SubscriberTestNode<std_msgs::msg::String>>("/topic", "sub");
  add_node(pub);
  add_node(sub);
  start_spinning();

  // Wait for DDS discovery (replaces hardcoded sleeps)
  REQUIRE(pub->wait_for_subscribers(1));
  REQUIRE(sub->wait_for_publishers(1));

  SECTION("Publish and receive") {
    auto future = sub->expect_next_message();

    std_msgs::msg::String msg;
    msg.data = "hello";
    pub->publish(msg);

    REQUIRE(future.get().data == "hello");
  }
}

Package.xml Usage

<test_depend>wato_test</test_depend>

CMake Usage

find_package(wato_test REQUIRED)

add_wato_test(my_test
  test/my_test.cpp
  LIBRARIES
    my_package::my_library
    std_msgs::std_msgs
)
CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged wato_test at Robotics Stack Exchange

No version for distro indigo showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

wato_test package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ language generic utilities, independent of any other dependencies or frameworks

Maintainers

  • WATonomous

Authors

No additional authors.
src/wato_test/README.md

wato_test

A ROS 2 testing framework built on Catch2 that provides test fixtures and utilities for testing ROS nodes, services, and communication patterns.

Features

  • TestExecutorFixture: Manages ROS executor lifecycle for tests
  • Test Nodes: Pre-built nodes for testing publishers, subscribers, services, and clients
    • Discovery Waiting: PublisherTestNode::wait_for_subscribers() and SubscriberTestNode::wait_for_publishers() poll DDS discovery state with a timeout, replacing fragile hardcoded sleeps
    • Future-based Messaging: SubscriberTestNode::expect_next_message() returns a std::future that resolves when the next message arrives
  • CMake Integration: Simple add_wato_test() function for creating tests
  • Catch2 Integration: Built on Catch2 for modern C++ testing

Quick Start

#include <catch2/catch_all.hpp>
#include <std_msgs/msg/string.hpp>
#include <wato_test/wato_test.hpp>

#include "test_nodes/publisher_test_node.hpp"
#include "test_nodes/subscriber_test_node.hpp"

TEST_CASE_METHOD(wato::test::TestExecutorFixture, "My ROS Test", "[ros]") {
  auto pub = std::make_shared<wato::test::PublisherTestNode<std_msgs::msg::String>>("/topic", "pub");
  auto sub = std::make_shared<wato::test::SubscriberTestNode<std_msgs::msg::String>>("/topic", "sub");
  add_node(pub);
  add_node(sub);
  start_spinning();

  // Wait for DDS discovery (replaces hardcoded sleeps)
  REQUIRE(pub->wait_for_subscribers(1));
  REQUIRE(sub->wait_for_publishers(1));

  SECTION("Publish and receive") {
    auto future = sub->expect_next_message();

    std_msgs::msg::String msg;
    msg.data = "hello";
    pub->publish(msg);

    REQUIRE(future.get().data == "hello");
  }
}

Package.xml Usage

<test_depend>wato_test</test_depend>

CMake Usage

find_package(wato_test REQUIRED)

add_wato_test(my_test
  test/my_test.cpp
  LIBRARIES
    my_package::my_library
    std_msgs::std_msgs
)
CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged wato_test at Robotics Stack Exchange

No version for distro hydro showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

wato_test package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ language generic utilities, independent of any other dependencies or frameworks

Maintainers

  • WATonomous

Authors

No additional authors.
src/wato_test/README.md

wato_test

A ROS 2 testing framework built on Catch2 that provides test fixtures and utilities for testing ROS nodes, services, and communication patterns.

Features

  • TestExecutorFixture: Manages ROS executor lifecycle for tests
  • Test Nodes: Pre-built nodes for testing publishers, subscribers, services, and clients
    • Discovery Waiting: PublisherTestNode::wait_for_subscribers() and SubscriberTestNode::wait_for_publishers() poll DDS discovery state with a timeout, replacing fragile hardcoded sleeps
    • Future-based Messaging: SubscriberTestNode::expect_next_message() returns a std::future that resolves when the next message arrives
  • CMake Integration: Simple add_wato_test() function for creating tests
  • Catch2 Integration: Built on Catch2 for modern C++ testing

Quick Start

#include <catch2/catch_all.hpp>
#include <std_msgs/msg/string.hpp>
#include <wato_test/wato_test.hpp>

#include "test_nodes/publisher_test_node.hpp"
#include "test_nodes/subscriber_test_node.hpp"

TEST_CASE_METHOD(wato::test::TestExecutorFixture, "My ROS Test", "[ros]") {
  auto pub = std::make_shared<wato::test::PublisherTestNode<std_msgs::msg::String>>("/topic", "pub");
  auto sub = std::make_shared<wato::test::SubscriberTestNode<std_msgs::msg::String>>("/topic", "sub");
  add_node(pub);
  add_node(sub);
  start_spinning();

  // Wait for DDS discovery (replaces hardcoded sleeps)
  REQUIRE(pub->wait_for_subscribers(1));
  REQUIRE(sub->wait_for_publishers(1));

  SECTION("Publish and receive") {
    auto future = sub->expect_next_message();

    std_msgs::msg::String msg;
    msg.data = "hello";
    pub->publish(msg);

    REQUIRE(future.get().data == "hello");
  }
}

Package.xml Usage

<test_depend>wato_test</test_depend>

CMake Usage

find_package(wato_test REQUIRED)

add_wato_test(my_test
  test/my_test.cpp
  LIBRARIES
    my_package::my_library
    std_msgs::std_msgs
)
CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged wato_test at Robotics Stack Exchange

No version for distro kinetic showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

wato_test package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ language generic utilities, independent of any other dependencies or frameworks

Maintainers

  • WATonomous

Authors

No additional authors.
src/wato_test/README.md

wato_test

A ROS 2 testing framework built on Catch2 that provides test fixtures and utilities for testing ROS nodes, services, and communication patterns.

Features

  • TestExecutorFixture: Manages ROS executor lifecycle for tests
  • Test Nodes: Pre-built nodes for testing publishers, subscribers, services, and clients
    • Discovery Waiting: PublisherTestNode::wait_for_subscribers() and SubscriberTestNode::wait_for_publishers() poll DDS discovery state with a timeout, replacing fragile hardcoded sleeps
    • Future-based Messaging: SubscriberTestNode::expect_next_message() returns a std::future that resolves when the next message arrives
  • CMake Integration: Simple add_wato_test() function for creating tests
  • Catch2 Integration: Built on Catch2 for modern C++ testing

Quick Start

#include <catch2/catch_all.hpp>
#include <std_msgs/msg/string.hpp>
#include <wato_test/wato_test.hpp>

#include "test_nodes/publisher_test_node.hpp"
#include "test_nodes/subscriber_test_node.hpp"

TEST_CASE_METHOD(wato::test::TestExecutorFixture, "My ROS Test", "[ros]") {
  auto pub = std::make_shared<wato::test::PublisherTestNode<std_msgs::msg::String>>("/topic", "pub");
  auto sub = std::make_shared<wato::test::SubscriberTestNode<std_msgs::msg::String>>("/topic", "sub");
  add_node(pub);
  add_node(sub);
  start_spinning();

  // Wait for DDS discovery (replaces hardcoded sleeps)
  REQUIRE(pub->wait_for_subscribers(1));
  REQUIRE(sub->wait_for_publishers(1));

  SECTION("Publish and receive") {
    auto future = sub->expect_next_message();

    std_msgs::msg::String msg;
    msg.data = "hello";
    pub->publish(msg);

    REQUIRE(future.get().data == "hello");
  }
}

Package.xml Usage

<test_depend>wato_test</test_depend>

CMake Usage

find_package(wato_test REQUIRED)

add_wato_test(my_test
  test/my_test.cpp
  LIBRARIES
    my_package::my_library
    std_msgs::std_msgs
)
CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged wato_test at Robotics Stack Exchange

No version for distro melodic showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

wato_test package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ language generic utilities, independent of any other dependencies or frameworks

Maintainers

  • WATonomous

Authors

No additional authors.
src/wato_test/README.md

wato_test

A ROS 2 testing framework built on Catch2 that provides test fixtures and utilities for testing ROS nodes, services, and communication patterns.

Features

  • TestExecutorFixture: Manages ROS executor lifecycle for tests
  • Test Nodes: Pre-built nodes for testing publishers, subscribers, services, and clients
    • Discovery Waiting: PublisherTestNode::wait_for_subscribers() and SubscriberTestNode::wait_for_publishers() poll DDS discovery state with a timeout, replacing fragile hardcoded sleeps
    • Future-based Messaging: SubscriberTestNode::expect_next_message() returns a std::future that resolves when the next message arrives
  • CMake Integration: Simple add_wato_test() function for creating tests
  • Catch2 Integration: Built on Catch2 for modern C++ testing

Quick Start

#include <catch2/catch_all.hpp>
#include <std_msgs/msg/string.hpp>
#include <wato_test/wato_test.hpp>

#include "test_nodes/publisher_test_node.hpp"
#include "test_nodes/subscriber_test_node.hpp"

TEST_CASE_METHOD(wato::test::TestExecutorFixture, "My ROS Test", "[ros]") {
  auto pub = std::make_shared<wato::test::PublisherTestNode<std_msgs::msg::String>>("/topic", "pub");
  auto sub = std::make_shared<wato::test::SubscriberTestNode<std_msgs::msg::String>>("/topic", "sub");
  add_node(pub);
  add_node(sub);
  start_spinning();

  // Wait for DDS discovery (replaces hardcoded sleeps)
  REQUIRE(pub->wait_for_subscribers(1));
  REQUIRE(sub->wait_for_publishers(1));

  SECTION("Publish and receive") {
    auto future = sub->expect_next_message();

    std_msgs::msg::String msg;
    msg.data = "hello";
    pub->publish(msg);

    REQUIRE(future.get().data == "hello");
  }
}

Package.xml Usage

<test_depend>wato_test</test_depend>

CMake Usage

find_package(wato_test REQUIRED)

add_wato_test(my_test
  test/my_test.cpp
  LIBRARIES
    my_package::my_library
    std_msgs::std_msgs
)
CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged wato_test at Robotics Stack Exchange

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Package symbol

wato_test package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/WATonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-08-25
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ language generic utilities, independent of any other dependencies or frameworks

Maintainers

  • WATonomous

Authors

No additional authors.
src/wato_test/README.md

wato_test

A ROS 2 testing framework built on Catch2 that provides test fixtures and utilities for testing ROS nodes, services, and communication patterns.

Features

  • TestExecutorFixture: Manages ROS executor lifecycle for tests
  • Test Nodes: Pre-built nodes for testing publishers, subscribers, services, and clients
    • Discovery Waiting: PublisherTestNode::wait_for_subscribers() and SubscriberTestNode::wait_for_publishers() poll DDS discovery state with a timeout, replacing fragile hardcoded sleeps
    • Future-based Messaging: SubscriberTestNode::expect_next_message() returns a std::future that resolves when the next message arrives
  • CMake Integration: Simple add_wato_test() function for creating tests
  • Catch2 Integration: Built on Catch2 for modern C++ testing

Quick Start

#include <catch2/catch_all.hpp>
#include <std_msgs/msg/string.hpp>
#include <wato_test/wato_test.hpp>

#include "test_nodes/publisher_test_node.hpp"
#include "test_nodes/subscriber_test_node.hpp"

TEST_CASE_METHOD(wato::test::TestExecutorFixture, "My ROS Test", "[ros]") {
  auto pub = std::make_shared<wato::test::PublisherTestNode<std_msgs::msg::String>>("/topic", "pub");
  auto sub = std::make_shared<wato::test::SubscriberTestNode<std_msgs::msg::String>>("/topic", "sub");
  add_node(pub);
  add_node(sub);
  start_spinning();

  // Wait for DDS discovery (replaces hardcoded sleeps)
  REQUIRE(pub->wait_for_subscribers(1));
  REQUIRE(sub->wait_for_publishers(1));

  SECTION("Publish and receive") {
    auto future = sub->expect_next_message();

    std_msgs::msg::String msg;
    msg.data = "hello";
    pub->publish(msg);

    REQUIRE(future.get().data == "hello");
  }
}

Package.xml Usage

<test_depend>wato_test</test_depend>

CMake Usage

find_package(wato_test REQUIRED)

add_wato_test(my_test
  test/my_test.cpp
  LIBRARIES
    my_package::my_library
    std_msgs::std_msgs
)
CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged wato_test at Robotics Stack Exchange