example_integration_test.launch.xml

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Copyright 2023 Nick Morales.

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    http://www.apache.org/licenses/LICENSE-2.0

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-->

<!--
An example launch file for running an integration test with catch_ros2.

It runs an auxiliary test node (the node under test), and an integration
test node (the node which performs the test).
 -->

<launch>
    <!--
    catch2_launch_file
    A required tag which will add a "result_file" argument for the launch file.
    This file will hold the results of the test.
    Description attribute of this tag is optional for XML launch files.
    -->
    <catch2_launch_file description='An example Catch2 integration test launch file'/>

    <!-- Specific launch arguments can also be included at the user's discretion -->
    <arg 
        name='test_duration'
        default='2.0'
        description='Max length of test in seconds.'
    />

    <!-- Auxiliary nodes can be run like normal to test integration between nodes -->
    <node
        pkg='catch_ros2'
        exec='integration_aux_node'
    />

    <!--
    catch2_integration_test_node
    a wrapper around node which passes the "result_file" argument to Catch2.
    There should only be one integration test node. This node will shutdown
    the entire launch file when it exits.
    Specific parameters and other arguments can also be passed, like the
    "test_duration" example below.
    -->
    <catch2_integration_test_node
        pkg='catch_ros2'
        exec='integration_test_node'
    >
        <param name='test_duration' value='$(var test_duration)'/>
    </catch2_integration_test_node>
</launch>