Ros2 Testing

ROS 2 Testing, Rosbag2 & Tracing Instructions (Ubuntu 24.04 LTS & ROS 2 Jazzy)

1. Core Principles & Architecture

• Target OS & ROS Distro: Ubuntu 24.04 LTS & ROS 2 Jazzy Jalisco.
• Quality & Diagnostics Stack: Integration testing via launch_testing, unit testing via ament_cmake_gtest / pytest, data recording/playback programmatically via rosbag2 C++/Python APIs, and performance profiling via ros2trace.
• Zero-Hallucination Policy: Never speculate about rosbag2 C++/Python API methods (open, write, create_topic) or launch_testing assertions. Verify all signatures against official ROS 2 Jazzy documentation.

2. Official Documentation Catalog

A. Master Documentation & Tutorials

• Writing Integration Tests with launch_testing: https://docs.ros.org/en/jazzy/Tutorials/Intermediate/Testing/Integration.html
• launch_testing API Docs: https://docs.ros.org/en/jazzy/p/launch_testing/
• rosbag2_cpp API Docs: https://docs.ros.org/en/jazzy/p/rosbag2_cpp/
• rosbag2_py API Docs: https://docs.ros.org/en/jazzy/p/rosbag2_py/
• ROS 2 Tracing Guide (ros2_tracing): https://docs.ros.org/en/jazzy/Tutorials/Advanced/ROS2-Tracing-Trace-and-Analyze.html
• Rosbag2 Official Repository: https://github.com/ros2/rosbag2

3. Key Concepts & Code Patterns

A. Programmatic Rosbag2 Writer (C++)

#include 
#include 

rosbag2_cpp::Writer writer;
writer.open("my_bag");
writer.create_topic({0, "chatter", "std_msgs/msg/String", "cdr", {}, ""});
writer.write(msg, "chatter", clock.now());

B. Integration Testing (launch_testing Python)

import unittest
import launch
import launch_ros.actions
import launch_testing
import launch_testing.actions
import launch_testing.asserts
def generate_test_description():
    node = launch_ros.actions.Node(package='demo_nodes_cpp', executable='talker')
    return launch.LaunchDescription([
        node,
        launch_testing.actions.ReadyToTest()
    ]), {'talker_node': node}

class TestTalkerNode(unittest.TestCase):
    def test_node_start(self, talker_node):
        self.assertIsNotNone(talker_node)

@launch_testing.post_shutdown_test()
class TestShutdown(unittest.TestCase):
    def test_exit_code(self, proc_info):
        launch_testing.asserts.assertExitCodes(proc_info)

Source & license

This open-source skill is cataloged on AgentStack and links to its original source — we do not rehost the code.

• Author: Leehyunbin0131
• Source: Leehyunbin0131/claude-ros2-skills
• License: MIT

Install and usage instructions live in the source repository linked above.