catch_ros is a small ROS catkin wrapper around the very nice Catch unit testing framework by Phil Nash.

Usage in CMakeLists.txt:

find_package(catkin REQUIRED COMPONENTS
	...
	catch_ros
	...
)

# Variant 1: standalone test
catch_add_test(my_standalone_test
	test/my_test.cpp
)
target_link_libraries(my_standalone_test
	${catkin_LIBRARIES}
)

# Variant 2: test node used in a rostest file
catch_add_rostest_node(my_rostest_test
	test/my_test.cpp
)
target_link_libraries(my_rostest_test
	${catkin_LIBRARIES}
)

The my_standalone_test is added to the run_tests target, so it is run by the catkin test infrastructure. my_rostest_test is not added to run_tests, instead you can use it in a rostest file.

test/my_test.cpp:

#include <catch_ros/catch.hpp>

TEST_CASE("test_case", "[some tag]")
{
	REQUIRE( (1 + 1) == 2 );
}

The catch_ros wrapper is released under BSD-3. Catch is licensed under the Boost license (see the Catch repository for details). ForkIt is distributed under the MIT License. We provide both the single header version for convenience in this repository at include/catch_ros/catch.hpp and include/catch_ros/forkit.hpp.

If you have any questions, mail Max Schwarz ([email protected]).