Adding Test Infra (#9)

* adds test package

* documentation on the node

* pre-commit

* ci failing

Author: Edwardius

.github/actions/build-and-test/action.yml

@@ -1,6 +1,12 @@
 name: Build and Test
 description: Common build and test logic for Deep ROS
 
+inputs:
+  ros-distro:
+    description: 'ROS distribution to use'
+    required: true
+    default: 'humble'
+
 runs:
   using: "composite"
   steps:
@@ -14,11 +20,14 @@ runs:
 
     - name: 🧱 Build workspace
       shell: bash
-      run: colcon build --merge-install
+      run: |
+        source /opt/ros/${{ inputs.ros-distro }}/setup.bash
+        colcon build --merge-install
 
     - name: ✅ Run tests
       shell: bash
       run: |
+        source /opt/ros/${{ inputs.ros-distro }}/setup.bash
         colcon test --merge-install --event-handlers console_cohesion+
         colcon test-result --verbose
 

.github/workflows/on_push.yml

@@ -19,3 +19,5 @@ jobs:
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: ./.github/actions/build-and-test
+        with:
+          ros-distro: ${{ env.ROS_DISTRO }}

deep_test/CMakeLists.txt

@@ -0,0 +1,95 @@
+# Copyright (c) 2025-present WATonomous. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved
+# Proprietary. Any unauthorized copying, distribution, or modification of this software is strictly prohibited.
+cmake_minimum_required(VERSION 3.22)
+project(deep_test)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_link_options(-Wl,-no-undefined)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+
+set(include_dir ${CMAKE_CURRENT_SOURCE_DIR}/include)
+
+# deep_test library
+set(DEEP_TEST_LIB ${PROJECT_NAME}_lib)
+add_library(${DEEP_TEST_LIB} SHARED
+  src/test_executor_fixture.cpp
+)
+target_include_directories(${DEEP_TEST_LIB} PUBLIC
+  $<BUILD_INTERFACE:${include_dir}>
+  $<INSTALL_INTERFACE:include>
+)
+target_link_libraries(${DEEP_TEST_LIB}
+  PRIVATE
+    rclcpp::rclcpp
+    rclcpp_lifecycle::rclcpp_lifecycle
+)
+
+install(TARGETS
+  ${DEEP_TEST_LIB}
+  EXPORT ${PROJECT_NAME}Targets
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(EXPORT ${PROJECT_NAME}Targets
+  NAMESPACE ${PROJECT_NAME}::
+  DESTINATION share/${PROJECT_NAME}/cmake
+)
+
+install(DIRECTORY include/
+  DESTINATION include
+)
+
+if(BUILD_TESTING)
+  # Include our custom test function
+  include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/add_deep_test.cmake)
+
+  # Find test dependencies
+  find_package(std_msgs REQUIRED)
+  find_package(std_srvs REQUIRED)
+
+  # Add the basic example test
+  add_deep_test(test_basic_example
+    test/test_basic_example.cpp
+    LIBRARIES
+      ${DEEP_TEST_LIB}
+      ${std_msgs_TARGETS}
+      ${std_srvs_TARGETS}
+  )
+
+  # Add ROS test with multiple library dependencies
+  add_deep_test(test_with_ros
+    test/test_with_ros.cpp
+    LIBRARIES
+      ${DEEP_TEST_LIB}
+      ${std_msgs_TARGETS}
+  )
+endif()
+
+ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
+ament_package(
+  CONFIG_EXTRAS "${PROJECT_NAME}-extras.cmake"
+)

deep_test/DEVELOPING.md

@@ -0,0 +1,38 @@
+# Developing deep_test
+
+## Building
+
+```bash
+colcon build --packages-select deep_test
+```
+
+## Running Tests
+
+```bash
+colcon test --packages-select deep_test
+colcon test-result --verbose
+```
+
+## Adding New Features
+
+### Test Fixtures
+This includes code that follows the definition of a fixture as per catch2.
+
+1. Add header to `include/test_fixtures/`
+2. Add implementation to `src/` if needed
+3. Include in `include/deep_test/deep_test.hpp`
+
+### Test Nodes
+This includes code that acts as helper ros nodes for testing. They should be inherently event-driven nodes (do not introduce arbitrary sleeps).
+
+1. Add header to `include/test_nodes/`
+2. Include in main header
+3. Keep nodes header-only when possible
+
+## CMake Function
+
+The `add_deep_test()` function automatically:
+- Links Catch2::Catch2WithMain
+- Links ROS dependencies (rclcpp, rclcpp_lifecycle)
+- Configures ament test registration
+- Sets up JUnit XML output

deep_test/README.md

@@ -0,0 +1,41 @@
+# deep_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_deep_test()` function for creating tests
+- **Catch2 Integration**: Built on Catch2 for modern C++ testing
+
+## Quick Start
+
+```cpp
+#include <catch2/catch.hpp>
+#include <deep_test/deep_test.hpp>
+
+TEST_CASE_METHOD(deep_ros::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");
+  }
+}
+```
+
+## CMake Usage
+
+```cmake
+find_package(deep_test REQUIRED)
+
+add_deep_test(my_test
+  test/my_test.cpp
+  LIBRARIES
+    my_package::my_library
+    std_msgs::std_msgs
+)
+```

deep_test/cmake/add_deep_test.cmake

@@ -0,0 +1,63 @@
+# Copyright (c) 2025-present WATonomous. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+#
+# Catch2 Unittest Function
+# Creates a test executable with Catch2 support
+#
+# Usage:
+#   add_deep_test(test_name test_source.cpp
+#     LIBRARIES lib1 lib2 lib3
+#   )
+#
+function(add_deep_test TEST_NAME TEST_SOURCE)
+  # Parse arguments
+  cmake_parse_arguments(
+    PARSE_ARGV 2  # Start parsing from the 3rd argument
+    ARG           # Prefix for parsed variables
+    ""            # Options (flags with no values)
+    ""            # One-value keywords
+    "LIBRARIES"   # Multi-value keywords
+  )
+
+  # Find dependencies
+  find_package(Catch2 2 REQUIRED)
+  find_package(rclcpp REQUIRED)
+  find_package(rclcpp_lifecycle REQUIRED)
+
+  # Create the test executable
+  add_executable(${TEST_NAME} ${TEST_SOURCE})
+
+  # Link with Catch2, ROS dependencies, and specified libraries
+  target_link_libraries(${TEST_NAME}
+    Catch2::Catch2WithMain
+    rclcpp::rclcpp
+    rclcpp_lifecycle::rclcpp_lifecycle
+    ${ARG_LIBRARIES}
+  )
+
+  # Add test include directory
+  target_include_directories(${TEST_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/test)
+
+  # Register the test with ament
+  ament_add_test(
+    ${TEST_NAME}
+    GENERATE_RESULT_FOR_RETURN_CODE_ZERO
+    COMMAND "$<TARGET_FILE:${TEST_NAME}>"
+      -r junit
+      -o test_results/${PROJECT_NAME}/${TEST_NAME}_output.xml
+    ENV CATCH_CONFIG_CONSOLE_WIDTH=120
+    WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
+  )
+endfunction()

deep_test/deep_test-extras.cmake

@@ -0,0 +1,16 @@
+# Copyright (c) 2025-present WATonomous. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# Make the add_deep_test function available to packages that depend on deep_test
+include("${deep_test_DIR}/add_deep_test.cmake")

deep_test/include/deep_test/deep_test.hpp

@@ -0,0 +1,27 @@
+// Copyright (c) 2025-present WATonomous. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+// Main header for deep_test library
+// Include this to access all deep_test functionality
+
+// Test fixtures
+#include "test_fixtures/test_executor_fixture.hpp"
+
+// Test nodes
+#include "test_nodes/client_test_node.hpp"
+#include "test_nodes/publisher_test_node.hpp"
+#include "test_nodes/service_test_node.hpp"
+#include "test_nodes/subscriber_test_node.hpp"