catch_ros2

A lightweight wrapper around the Catch2 testing framework for use with ROS 2.

This can be used for unit testing of ROS 2 related functionality or for integration tests to test the functionality of nodes in C++.

Installation

To install Debian packages of catch_ros2 simply run the following command (assuming your environment is properly set up for installing Debian packages):

apt install ros-${ROS_DISTRO}-catch-ros2

Debian packages are currently available for Humble, Iron, and Rolling ROS 2 distributions.

To build the package from source, clone it into the src directory of your workspace root directory (ws). Then from ws use colcon build, like any other ROS 2 package.

Usage

See the examples section for guides on usage. This README provides an overview, but more details can be found in the links to example source code.

There are two basic ways to use this framework: 1. Integration testing 2. Unit testing

You can also customize further if you need further control.

Integration Testing

Integration testing is an important way to ensure different elements of your system work together as desired. In ROS, we generally want to test that our nodes behave correctly, which may difficult with typical unit testing.

ROS 2 already contains a framework for writing integration tests in Python which may be more than sufficient for most users. GTest can also be used to test C++ code within an integration test. However, to my knowledge, I have not seen an easy way to create integration tests in C++ with Catch2 - a simple to use but powerful C++ testing framework. The primary motivation of this package is to provide a framework for just that.

Components

For a launch integration test in this framework you need 4 components: 1. Node(s) under test 2. Testing node 3. Launch file 4. CMake setup

Node(s) under test

These are the nodes in your package whose functionality you'd like to test. Nothing special has to be done with these nodes to test them with this framework. This example has integration_aux_node as the node under test.

Testing node

This node is specifically written with Catch2 test cases and assertions to test the functionality of other nodes. The example has integration_test_node as the testing node.

If it is linked with catch_ros2::catch_ros2_with_node_main (see CMake setup) it does not require a main function and can be run just like any other ROS 2 node (ros2 run ${package_name} ${executable_name}). Tests can be executed manually by just running the node like this (along with other necessary nodes).

If more precise functionality beyond the default node main of this package is desired, see selecting a main function.

Launch file

To automate the integration test, a Python launch file can be used to launch all the necessary nodes for the test, including the test node. An integration test can also be run manually by simply launching this launch file.

This launch file is the same as any other ROS 2 Python launch file, but the launch_catch_ros2 Python module provides a few useful classes: - Catch2LaunchDescription - a wrapper around the typical launch.LaunchDescription that includes a "result_file" argument where the results of the test will be output. - Catch2IntegrationTestNode - a wrapper around the typical launch_ros.actions.Node that passes the "result_file" argument to Catch2 (via the default catch_ros2 node main function) and shuts down all nodes on exit. This should be used to launch the testing node. Only one should be used per integration test.

XML and YAML launch files can also be used - see the provided links for examples of the above same launch file implemented in those formats.

Integration CMake setup

Most of the CMake required for this integration test is pretty standard for a ROS 2 package (though the ROS 2 boilerplate CMake is not shown in this example). Nodes are built/installed and the launch file is installed to the package's share directory.

A few items are of note:

target_link_libraries(integration_test_node
  catch_ros2::catch_ros2_with_node_main
)

This links the integration test node with the version of catch_ros2 that includes the default main for running test nodes. Only one version of the catch_ros2 library need be linked to a target, depending on the need for a default main. See selecting a main function.

catch_ros2_add_integration_test(ExampleIntegration_Test
  LAUNCH_FILE example_integration_test.launch.py
)

This custom CMake function is only necessary if the test should be run automatically whenever colcon test is run. See here for documentation on the function.

Unit Testing

Unit testing is a good way to ensure specific elements of your package work well on their own. It's important to ensure functionality is preserved in an ever-evolving codebase.

This package can also be used for unit testing with Catch2. Using Catch2 for unit testing of ROS 2 components is much more straightforward, and you may not need catch_ros2. However this package provides a few utilities and a newer version of Catch2 than Ubuntu does.

Components

Only 2 components are needed to create a unit test with this framework: 1. Test source file 2. CMake setup

Test source file

The source file for unit tests can be written like any other Catch2 unit test.

Unit CMake setup

The CMake setup for unit testing is pretty standard for adding a Catch2 test. The only thing of note is linking the source file with catch_ros2::catch_ros2_with_main, which gives access to catch_ros2 utilities and uses Catch2's default main function. See selecting a main function.

target_link_libraries(example_unit_test
  catch_ros2::catch_ros2_with_main
)

Utilities

catch_ros2 provides some utility functions for unit testing in ROS 2.

• Arguments - utilities for handling command line arguments.
  • SimulateArgs - allows you to pass in a string or vector of strings representing command line arguments to create simulated argc and argv values to pass into functions or rclcpp::init().
  • See here and here for examples.
  • SplitROSArgs - removes ROS arguments from an input argc and argv, so these arguments won't cause problems for other functions (like Catch2 sessions).
  • See here for an example.
  • tokenize - splits a command line string into a vector of strings, ignoring whitespace in quotation marks.
  • See here for an example.

Selecting a main function

There are three options for a main function when using catch_ros2. Which option is selected depends on which library you link your target to - you should only link to one.

1. Default Node Main

This test node main function (defined here) is good for writing ROS 2 test nodes that use Catch2 (ex: for integration tests). It initializes the ROS context with the input arguments, removes the ROS arguments from the input list, runs the Catch session, then shuts down ROS.

You can use this main by linking to catch_ros2::catch_ros2_with_node_main:

target_link_libraries(${target_name}
  catch_ros2::catch_ros2_with_node_main
)

2. Default Catch2 Main

This main function is Catch2's default main function, which is good for typical unit testing scenarios.

You can use this main by linking to catch_ros2::catch_ros2_with_main:

target_link_libraries(${target_name}
  catch_ros2::catch_ros2_with_main
)

3. Defining a custom main

If neither of the above two options satisfy your needs, you can define your own custom main function. See Catch2's guidelines on this. See here for an example.

If you want your test to behave like a node, you can use the catch_ros2 node main as a starting point.

To define your own main but still use this library, link to catch_ros2::catch_ros2:

target_link_libraries(${target_name}
  catch_ros2::catch_ros2
)

Catch2 Version

Currently this repository uses the amalgamated version of Catch2 as a simple way of vendoring v3.4.0 of Catch2. Ubuntu currently only provides Catch2 v2, which ROS 2 depends on, so we've made the decision to vendor v3 to be able to use the newest features. In the future, this approach may be abandoned for vendoring Catch2 v3 in its multiple header form.

In order to update the repository for a future release of Catch2 v3, simply copy the amalgamated header and source files from the Catch2 repository and replace those header and source files in this repository. The default main may also need to be updated.

License

This package is released under the Apache-2.0 License. Catch2 is licensed under the BSL-1.0 License (see their repository for more details).

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.