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I agree with @jayess' comment - you're raising a list of good questions IMO, and you should split into multiple threads to get more meaningful response and visibility (as of today this thread has 0 answer).

• Some ROS command line tools (e.g. rosmsg, rosnode, rossrv, rostopic) are used when debugging ROS nodes. Are they wrapped into rostest? Or is it common practice to use the equivalent functionality provided by the C++ API or Python API to setup automated ROS node unit tests?

I think what has been commonly done is the latter; rospy library already covers a lot of tools that are provided often separately in commadnline. rosmsg and rostopic have their own Python api (rosmsg, rostopic, respectively). That said I don't find a necessity for rostest to wrap many command line tools.

I agree with @jayess' comment - you're raising a list of good questions IMO, and you should split into multiple threads to get more meaningful response and visibility (as of today this thread has 0 answer).

• Some ROS command line tools (e.g. rosmsg, rosnode, rossrv, rostopic) are used when debugging ROS nodes. Are they wrapped into rostest? Or is it common practice to use the equivalent functionality provided by the C++ API or Python API to setup automated ROS node unit tests?

I think what has been commonly done is the latter; rospy library already covers a lot of tools that are provided often separately in commadnline. rosmsg and , rosnode, rostopic have their own Python api (rosmsg, rostopic, respectively). (see each linked pages). That said I don't find a necessity for rostest to wrap many command line tools.