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The <test_depend> tag matters for running tests from source, like <test_depend>unittest</test_depend>. Unfortunately, it currently does not resolve build or configuration dependencies needed by those tests. Use a <build_depend> for that instead.
Test dependencies are ignored by bloom for Ubuntu package builds. The current ROS build and packaging scheme does not support testing of Ubuntu packages, or creating of test packages.
Once REP-0140 is approved and implemented <test_depend> will work for build and configuration dependencies, as well as for execution dependencies. That is a definite improvement, but the packaging restrictions will remain.
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