ROS has a framework for running tests, called rostest.

The pieces needed for a test is:

1. the node to test (also known as UUT or Unit Under Test)
2. a file with tests (also known as the test or testbench)
3. a .test file that launches the UUT and testbench

Example CMakeLists.txt entry:

add_rostest_gtest(test_serial_subscriber                                        
  serial_subscriber.test                                                        
  test_serial_subscriber.cpp)                                                   
add_dependencies(test_serial_subscriber serial_subscriber_example)              
target_link_libraries(test_serial_subscriber serial test_tools ${catkin_LIBRARIES} ${GTEST_LIBRARIES})

To compile all tests:

rsmake tests

To run all tests:

rsmake run_tests

To run a single test:

rostest robosub <test>