Unit tests with Catch2

These are the instructions to build the Pico SDK and Catch2 unit tests on Windows. To set up, run source /opt/ros/humble/setup.bash in the devcontainer.

Building

Run the following in the devcontainer.

Without Unit Tests

cmake -B build -S microros
cmake --build build

Output: build/pico_microros.uf2 Upload this to your Pico.

With Unit Tests

cmake -B build_unit_tests -S microros -DBUILD_UNIT_TESTS=ON
cmake --build build_unit_tests

Output: build_unit_tests/unit_tests

Interfacing

In Windows, we need to pass the Pico to WSL. Skip this step on Linux. Execute usbipd list in an elevated PowerShell to get your Pico's BUSID.

The Pico will be the line containing 2e8a. We need to attach the Pico to WSL.

usbipd bind --busid <BUSID>
usbipd attach --wsl --busid <BUSID>

Start the MicroROS agent in a new WSL terminal: docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agent:humble serial --dev /dev/<Pico path> -b 115200

Running the tests

Run ./build_unit_tests/unit_tests in the devcontainer

Adding New Tests

Edit microros/src/unittests.cpp and add new TEST_CASE blocks:

TEST_CASE("My new test", "[test][pico]") {
    PicoInterface pico;

    // Wait for connection
    std::this_thread::sleep_for(2000ms);
    rclcpp::spin_some(test_node);

    // Your test logic here

    REQUIRE(true);
}

Executing your tests

./build_unit_tests/unit_tests

This will output if your tests passes or not.

Troubleshooting

Rebuild tests: cmake --build build_unit_tests in the devcontainer CLI Check ROS 2 topic visibility: ros2 topic list in the devcontainer