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Overview

rosunit provides tools for running unit tests within ROS. It currently supports:

• gtest

• Python unittest (via rostest wrappers)

The main consumer of rosunit are various rosbuild CMake macros as well as test reporting infrastructure. The rosbuild system uses rosunit to ensure that unit tests properly terminate.

Usage

$ rosrun rosunit rosunit -h

Usage: rosunit [options] <file> [test args...]

Options:
  -h, --help            show this help message and exit
  -t, --text            Run with stdout output instead of XML output
  --time-limit=TIME_LIMIT
                        Set time limit for test
  --name=TEST_NAME      Test name

• -t, --text

  • Runs a gtest-compatible executable inside of a process monitor. If the test does not succeed within the time limit (default 1 minute), the test is killed and marked as a failure. Executable is not run within a ROS graph.

  --name

  • Set test name. Test name defaults to name of executable. This option should be set when running wrapped tests, e.g. with python.

  --time-limit

  • Time limit for test.

Helper Scripts

clean_junit_xml.py

• Aggregate test results in test_results/_hudson, stripping any characters that cause Hudson trouble.

check_test_ran.py <test-file.xml>

check_test_ran.py --rostest <pkg-name> <test-file.xml>

• Look for test results file. If none exists, write new test results file that indicates test failure. If the --rostest option is passed in, it will use rostest's filename-generation scheme to look or the correct test file.

summarize_results.py <package>

• Summarize test results for a single package.

test_results_dir.py

• Print the directory that test results are written to.

pycoverage_to_html.py

• Generate HTML versions of coverage.py test results.

Roadmap

Historically, rosunit is based on a refactoring of rostest. It provides the unit-test infrastructure and rostest provides the integration test infrastructure. rostest is also allowed to interact with a running ROS graph.

The initial separation was not perfect. There is more room to migrate more code from rostest into rosunit. Similarly, there is code within rosunit that would be better supported by a graph-less version of roslaunch, i.e. a process monitor unattached to a ROS master. Until that happens, rosunit contains code that is a copy of internal libraries within roslaunch.