Testing ROS 2 nodes using GTest

Automated unit testing in ROS 2 offers several key advantages. By running tests after each change, you can make small code updates with confidence that interdependencies across ROS 2 packages won’t introduce unexpected issues. This also allows you to refactor code without fear of introducing bugs, as passing tests confirms that functionality remains intact. There are different kinds of testing methods, each devoted to testing a particular aspect of the source code. Among them, unit testing is the test type that helps developers ensure that their code works as expected in both basic and corner cases. It involves writing tests for small, self-contained pieces of code, typically functions or methods, to ensure they generate the expected output values. These tests are usually automated and can be run frequently throughout the development process. They can be defined by the developer themself, ensuring that both basic functionalities and critical...