Test format

stretch_core/CMakeLists.txt

@@ -204,3 +204,8 @@ include_directories(
 
 ## Add folders to be run by python nosetests
 # catkin_add_nosetests(test)
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+  add_rostest(tests/stretch_driver_test.test)
+endif()

stretch_core/nodes/tests/test_stretch_driver.py

@@ -0,0 +1,9 @@
+import pytest
+
+
+def test_hello_works():
+    assert True 
+
+
+def test_hello_does_not_work(): 
+    assert False 

stretch_core/package.xml

@@ -82,7 +82,7 @@
   <exec_depend>std_srvs</exec_depend>
   <exec_depend>tf</exec_depend>
   <exec_depend>tf2</exec_depend>
-
+  <test_depend>rostest</test_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

stretch_core/tests/pytest_runner.py

@@ -0,0 +1,26 @@
+#!/usr/bin/env python
+from __future__ import print_function
+
+import os
+import sys
+import rospy
+import pytest
+
+
+def get_output_file():
+    for arg in sys.argv:
+        if arg.startswith('--gtest_output'):
+            return arg.split('=xml:')[1]
+
+    raise RuntimeError('No output file has been passed')
+
+
+if __name__ == '__main__':
+    output_file = get_output_file()
+    test_module = rospy.get_param('test_module')
+    runner_path = os.path.dirname(os.path.realpath(__file__))
+    module_path = os.path.join(runner_path, test_module)
+
+    sys.exit(
+        pytest.main([module_path, '--junitxml={}'.format(output_file)])
+    )

stretch_core/tests/stretch_driver_test.test

@@ -0,0 +1,4 @@
+<launch>
+    <param name = "test_module" value = "../nodes"/>
+    <test test-name = "test_stretch_driver" pkg = "stretch_core" type = "pytest_runner.py"/>
+</launch>