Use Gtest with ROS

There are several interesting tips you need to know about catkin tools

Configuration for catkin workspace using caktin Tools

• enable -Wall -Wextra of the compiler to report potential coding bugs
• enable robust cleaning of individual packages with linked layout , actually this is a default value of catkin_tools

The configuration is below:

catkin config --cmake-args -DCMAKE_CXX_FLAGS="-Wall -Wextra" -DCMAKE_BUILD_TYPE=Release  
catkin config --link-devel

Build ros gtests using catkin_tools:

catkin build --make-args tests

Using gtest in sub-directory of ros packages.

Install the dependency first

sudo apt-get install libgtest-dev

The CMakeLists.txt codes in CMakeLists

The the cmakelists structure should be

ros_package    
  -launch      
  -cfg     
  -cmake      
  -include     
  -src     
  -external_lib     
    -include     
    -src     
    -doc     
    -cmake     
    -tests (libraries tests)     
      -CMakeLists.txt(test cmakelists)     
    -CMakeLists.txt (libraries CMakeLists files)     
  -test (ros tests)       
  -CMakeLists.txt(top level CMakeLists)      

The test CMakeLists should be

catkin_add_gtest(test_name test1.cpp test2.cpp)  
target_link_libraries(test_name ${catkin_LIBRARIES})