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Writing Basic Tests with C++ with GTest

Starting point: we’ll assume you have a basic ament_cmake package set up already and you want to add some tests to it.

In this tutorial, we’ll be using gtest.

Package Setup

Source Code

We’ll start off with our code in a file called test/tutorial_test.cpp

#include <gtest/gtest.h>

TEST(package_name, a_first_test)
{
  ASSERT_EQ(4, 2 + 2);
}

int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}

package.xml

Add the following line to package.xml

<test_depend>ament_cmake_gtest</test_depend>

CMakeLists.txt

if(BUILD_TESTING)
  find_package(ament_cmake_gtest REQUIRED)
  ament_add_gtest(${PROJECT_NAME}_tutorial_test test/tutorial_test.cpp)
  target_include_directories(${PROJECT_NAME}_tutorial_test PUBLIC
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
    $<INSTALL_INTERFACE:include>
  )
  ament_target_dependencies(${PROJECT_NAME}_tutorial_test
    std_msgs
  )
  target_link_libraries(${PROJECT_NAME}_tutorial_test name_of_local_library)
endif()

The testing code is wrapped in the if/endif block to avoid building tests where possible. ament_add_gtest functions much like add_executable so you’ll need to call target_include_directories, ament_target_dependencies and target_link_libraries as you normally would.

Running Tests

See the tutorial on how to run tests from the command line for more information on running the tests and inspecting the test results.