Awesome

code_coverage

ROS package to run coverage testing

Examples

• The robot_calibration package uses this to generate coverage for C++ code using Travis-CI and Codecov.io

Usage

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 the following. NOTE the order of test targets and coverage macros:

  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 ${PROJECT_NAME}_coverage_report
        DEPENDENCIES _run_tests_${PROJECT_NAME}
      )
    endif()
  endif()
  

• Note: The variable COVERAGE_EXCLUDES must have some content!

• 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

Python rostest Support

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)