Add coverage collection to tests

.gitignore

@@ -14,6 +14,7 @@ docs/build/
 docs/source/generated
 
 # Test artifacts
+**/.coverage
 test/results/
 
 # Temporary folders generated by PDDLStream

pyrobosim_ros/package.xml

@@ -25,6 +25,7 @@
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
+  <test_depend>python3-pytest-cov</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

pyrobosim_ros/test/CMakeLists.txt

@@ -1,6 +1,8 @@
 # CMakeLists.txt for pyrobosim_ros tests
-
 find_package(ament_cmake_pytest REQUIRED)
+
+set(AMENT_CMAKE_PYTEST_WITH_COVERAGE ON)
+
 set(_pytest_tests
     test_ros_conversions.py
 )

test/python_test_requirements.txt

@@ -1,5 +1,6 @@
 lark
 py!=1.10.0
 pytest
+pytest-cov
 pytest-dependency
 pytest-html

test/run_tests.bash

@@ -14,8 +14,12 @@ TEST_RESULTS_DIR="${SCRIPT_DIR}/results"
 # Run regular pytest tests
 echo "Running Python package unit tests..."
 python3 -m pytest "$SCRIPT_DIR" \
+ --cov="$SCRIPT_DIR" --cov-branch --cov-report term \
+ --cov-report html:"$TEST_RESULTS_DIR/test_results_coverage_html" \
+ --cov-report xml:"$TEST_RESULTS_DIR/test_results_coverage.xml" \
  --junitxml="$TEST_RESULTS_DIR/test_results.xml" \
- --html="$TEST_RESULTS_DIR/test_results.html" --self-contained-html
+ --html="$TEST_RESULTS_DIR/test_results.html" \
+ --self-contained-html
 
 echo ""
 
@@ -26,7 +30,9 @@ then
     WORKSPACE_DIR="${COLCON_PREFIX_PATH}/../"
     echo "Running ROS package unit tests from ${WORKSPACE_DIR}..."
     pushd "${WORKSPACE_DIR}" > /dev/null || exit
-    colcon test --event-handlers console_cohesion+
+    colcon test \
+        --event-handlers console_cohesion+ \
+        --pytest-with-coverage --pytest-args " --cov-report term"
     colcon test-result --verbose
     popd > /dev/null || exit
 fi