ROS package to run coverage testing
- The robot_calibration package uses this to generate coverage for C++ code using Travis-CI and Codecov.io
To use this with your ROS package:
- Add code_coverage as a test depend in your package.xml
- Update your CMakeLists.txt, in the testing section add:
if(CATKIN_ENABLE_TESTING AND ENABLE_COVERAGE_TESTING)
find_package(code_coverage REQUIRED)
# Add compiler flags for coverage instrumentation before defining any targets
APPEND_COVERAGE_COMPILER_FLAGS()
endif()
# Add your targets here
if (CATKIN_ENABLE_TESTING)
# Add your tests here
# Create a target ${PROJECT_NAME}_coverage_report
if(ENABLE_COVERAGE_TESTING)
set(COVERAGE_EXCLUDES "*/${PROJECT_NAME}/test*" "*/${PROJECT_NAME}/other_dir_i_dont_care_about*")
add_code_coverage(
NAME ${PROJECT_NAME}_coverage_report
DEPENDENCIES tests
)
endif()
endif()
-
Now you can build and run the tests (you need a debug build to get reasonable coverage numbers):
- if using CATKIN_MAKE:
catkin_make -DENABLE_COVERAGE_TESTING=ON -DCMAKE_BUILD_TYPE=Debug catkin_make -DENABLE_COVERAGE_TESTING=ON -DCMAKE_BUILD_TYPE=Debug PACKAGE_NAME_coverage_report
- if using CATKIN_TOOLS:
catkin config --cmake-args -DENABLE_COVERAGE_TESTING=ON -DCMAKE_BUILD_TYPE=Debug catkin build catkin build PACKAGE_NAME -v --no-deps --catkin-make-args PACKAGE_NAME_coverage_report
-
The output will print where the coverage report is located
While the C++ interface and Python-based unit tests require no modification to get coverage information, Python-based nodes run from rostest launch files need a bit of additional instrumentation turned on:
<launch>
<!-- Add an argument to the launch file to turn on coverage -->
<arg name="coverage" default="false"/>
<!-- This fancy line forces nodes to generate coverage -->
<arg name="pythontest_launch_prefix" value="$(eval 'python-coverage run -p' if arg('coverage') else '')"/>
<!-- This node will NOT generate coverage information -->
<node pkg="example_pkg" name="publisher_node" type="publisher_node.py" />
<!-- But this node WILL generate coverage -->
<node pkg="example_pkg" name="subscriber_node" type="subscriber_node.py"
launch-prefix="$(arg pythontest_launch_prefix)" />
<!-- The test can also generate coverage information if you include the launch-prefix -->
<test time-limit="10" test-name="sample_rostest" pkg="example_pkg" type="sample_rostest.py"
launch-prefix="$(arg pythontest_launch_prefix)" />
</launch>
In the CMakeLists, you will need to pass this argument:
add_rostest(example_rostest.test ARGS coverage:=ENABLE_COVERAGE_TESTING)