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There's a close-to minimal gtest example for ROS2 Rolling here: https://github.com/AndyZe/minimal_integration_test

The only extra fluff is from loading a URDF and some other robot config stuff that MoveIt often uses. If you don't want that fluff, just comment the common_config lines in basic_test.test.py.

There's a close-to minimal gtest example for ROS2 Rolling here: https://github.com/AndyZe/minimal_integration_test

There's a minimal gtest example for ROS2 Rolling here: https://github.com/AndyZe/minimal_integration_testhttps://github.com/PickNikRobotics/test_examples

There's a minimal gtest example for ROS2 Rolling Humble/Rolling here: https://github.com/PickNikRobotics/test_examples