Added unit testing

.github/workflows/build.yml

@@ -22,4 +22,9 @@ jobs:
           distro: humble
 
       - name: Build the workspace
-        uses: ichiro-its/ros2-ws-action/[email protected]
+        uses: ichiro-its/ros2-ws-action/[email protected]
+
+      - name: Test the workspace
+        run: |
+          source install/setup.bash
+          colcon test --return-code-on-test-failure

CMakeLists.txt

@@ -7,6 +7,7 @@ find_package(ament_cmake REQUIRED)
 
 set(ROS2_REQUIRED_COMPONENTS
     rclcpp
+    std_msgs
 )
 foreach(COMPONENT ${ROS2_REQUIRED_COMPONENTS})
     find_package(${COMPONENT} REQUIRED)
@@ -36,4 +37,12 @@ install(
     DESTINATION lib/${PROJECT_NAME}
 )
 
+if(BUILD_TESTING)
+    find_package(ament_cmake_gtest REQUIRED)
+    ament_add_gtest(
+        unit_testing
+        src/unit_tests.cpp
+    )
+endif()
+
 ament_package()

src/unit_tests.cpp

@@ -0,0 +1,15 @@
+#include <gtest/gtest.h>
+
+
+int a_complex_function(int x) { return 2*x; }
+
+
+
+TEST(cpp_publisher_subscriber, useless_test) {
+    ASSERT_EQ(a_complex_function(2), 5);
+}
+
+int main(int argc, char** argv) {
+    testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}