I am not sure I understand your use case and "grey-box tests" enough. In order to use mock functions I assume you will compile a custom version of component. You should then be able to use that in test however you like. It would probably best if you try to implement a simple test as you have it in mind using the ROS 2 tools. If you run into problems please don't hesitate to ask and we are happy to help. --- [Visit Topic](https://discourse.ros.org/t/grey-box-node-nodelet-unit-testing-with-ros2/3037/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: