diff --git a/package.xml b/package.xml
index 35594541..9f89f2a4 100644
--- a/package.xml
+++ b/package.xml
@@ -19,7 +19,7 @@
moveit_msgs
rviz
- rosunit
+ rostest
diff --git a/src/test/CMakeLists.txt b/src/test/CMakeLists.txt
index 346e2820..33feeab8 100644
--- a/src/test/CMakeLists.txt
+++ b/src/test/CMakeLists.txt
@@ -7,13 +7,14 @@ include_directories(${CMAKE_SOURCE_DIR}/src)
## Add gtest based cpp test target and link libraries
if (CATKIN_ENABLE_TESTING)
+ find_package(rostest REQUIRED)
catkin_add_gtest(${PROJECT_NAME}-test-container test_container.cpp)
target_link_libraries(${PROJECT_NAME}-test-container
${PROJECT_NAME}
${catkin_LIBRARIES}
gtest_main)
- catkin_add_gtest(${PROJECT_NAME}-test-task_model test_task_model.cpp)
+ add_rostest_gtest(${PROJECT_NAME}-test-task_model test_task_model.launch test_task_model.cpp)
target_link_libraries(${PROJECT_NAME}-test-task_model
motion_planning_tasks_rviz_plugin
${PROJECT_NAME}_stages
diff --git a/src/test/test_task_model.launch b/src/test/test_task_model.launch
new file mode 100644
index 00000000..01a154dc
--- /dev/null
+++ b/src/test/test_task_model.launch
@@ -0,0 +1,7 @@
+
+
+
+
+
+