catch_ros is a small ROS catkin wrapper around the very nice Catch2 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 );
}

NOTE: Do not define CATCH_CONFIG_MAIN in your code, as you will hide the definition of main() in catch_ros, which performs required command line processing and ROS initialization.

The catch_ros wrapper is released under BSD-3. Catch2 is licensed under the Boost license (see the Catch repository for details). We provide the single header version for convenience in this repository at include/catch_ros/catch.hpp.

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