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adds test package
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‎deep_test/CMakeLists.txt‎

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# Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved
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# Proprietary. Any unauthorized copying, distribution, or modification of this software is strictly prohibited.
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cmake_minimum_required(VERSION 3.22)
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project(deep_test)
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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add_link_options(-Wl,-no-undefined)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_lifecycle REQUIRED)
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set(include_dir ${CMAKE_CURRENT_SOURCE_DIR}/include)
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# deep_test library
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set(DEEP_TEST_LIB ${PROJECT_NAME}_lib)
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add_library(${DEEP_TEST_LIB} SHARED
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src/test_executor_fixture.cpp
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)
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target_include_directories(${DEEP_TEST_LIB} PUBLIC
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$<BUILD_INTERFACE:${include_dir}>
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$<INSTALL_INTERFACE:include>
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)
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target_link_libraries(${DEEP_TEST_LIB}
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PRIVATE
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rclcpp::rclcpp
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rclcpp_lifecycle::rclcpp_lifecycle
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)
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install(TARGETS
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${DEEP_TEST_LIB}
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EXPORT ${PROJECT_NAME}Targets
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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install(EXPORT ${PROJECT_NAME}Targets
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NAMESPACE ${PROJECT_NAME}::
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DESTINATION share/${PROJECT_NAME}/cmake
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)
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install(DIRECTORY include/
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DESTINATION include
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)
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if(BUILD_TESTING)
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# Include our custom test function
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include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/add_deep_test.cmake)
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# Find test dependencies
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find_package(std_msgs REQUIRED)
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find_package(std_srvs REQUIRED)
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# Add the basic example test
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add_deep_test(test_basic_example
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test/test_basic_example.cpp
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LIBRARIES
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${DEEP_TEST_LIB}
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${std_msgs_TARGETS}
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${std_srvs_TARGETS}
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)
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# Add ROS test with multiple library dependencies
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add_deep_test(test_with_ros
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test/test_with_ros.cpp
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LIBRARIES
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${DEEP_TEST_LIB}
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${std_msgs_TARGETS}
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)
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endif()
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ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
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ament_package(
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CONFIG_EXTRAS "${PROJECT_NAME}-extras.cmake"
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)

‎deep_test/cmake/add_deep_test.cmake‎

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

‎deep_test/deep_test-extras.cmake‎

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

‎deep_test/include/deep_test/deep_test.hpp‎

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

‎deep_test/include/test_fixtures/test_executor_fixture.hpp‎

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// Copyright (c) 2025-present WATonomous. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#pragma once
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#include <memory>
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#include <thread>
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#include <type_traits>
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#include <vector>
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#include "rclcpp/rclcpp.hpp"
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#include "rclcpp_lifecycle/lifecycle_node.hpp"
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namespace deep_ros::test
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{
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/**
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* @brief ROS2 Initializer base class
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*
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* Used as a private base class to control initialization order,
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* and ensures ROS2 is initialized before any derived class members are constructed.
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*/
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struct ROS2Initializer
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{
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ROS2Initializer();
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~ROS2Initializer();
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};
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/**
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* @brief Test Executor Fixture
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*
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* Catch2 test fixture that manages a single executor and thread for spinning
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* multiple test nodes.
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*/
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class TestExecutorFixture : private ROS2Initializer
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{
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public:
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/**
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* @brief Constructor - initializes ROS and creates executor
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*/
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TestExecutorFixture();
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/**
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* @brief Destructor - stops executor and shuts down ROS
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*/
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~TestExecutorFixture();
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/**
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* @brief Start spinning the executor in a background thread
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* Call this after adding all nodes to the executor
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*/
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void start_spinning();
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/**
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* @brief Add a templated test node to be spun by this executor
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*
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* @tparam T The test node type (must inherit from rclcpp::Node or rclcpp_lifecycle::LifecycleNode)
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* @param node The test node to add
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*/
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template <typename T>
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void add_node(std::shared_ptr<T> node)
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{
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static_assert(
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std::is_base_of_v<rclcpp::Node, T> || std::is_base_of_v<rclcpp_lifecycle::LifecycleNode, T>,
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"T must inherit from rclcpp::Node or rclcpp_lifecycle::LifecycleNode");
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executor_.add_node(node->get_node_base_interface());
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}
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protected:
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rclcpp::executors::SingleThreadedExecutor executor_;
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std::thread spin_thread_;
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};
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} // namespace deep_ros::test

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