Overview

rostest is an extension to roslaunch that enables roslaunch files to be used as test fixtures. As a fully running system has more complex behaviors than an individual ROS node, this allows you to do full integration testing across multiple nodes.

• Writing rostests

• Running rostest manually from the command-line

• Re-usable test nodes

• Adding other unit-test frameworks

• Connecting to the rostest master

• See also: ROS unittest overview

• See also this extensive post from Mirza Shah about steps you generally need for testing in ROS.