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
• CMake Integration: Simple add_wato_test() function for creating tests
• Catch2 Integration: Built on Catch2 for modern C++ testing

Quick Start

#include <catch2/catch.hpp>
#include <wato_test/wato_test.hpp>

TEST_CASE_METHOD(wato::test::TestExecutorFixture, "My ROS Test", "[ros]") {
  auto node = std::make_shared<rclcpp::Node>("test_node");
  add_node(node);
  start_spinning();

  // Your test code here as sections
  SECTION("My test") {
    REQUIRE(node->get_name() == "test_node");
  }
}

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
)