Thanks for your advice. I agree with you that when possible, writing these integration tests in a language such as Python will be much quicker than using C++/gtest.
In the context of our (research) project, we want to create a (ideally language agnostic) framework for specifying tests with pre-conditions, invariants and post-conditions. These conditions would be verified using both intrinsic data from the robot and data from an external sensing system such as a laser scanner, rgbd-camera or mocap. It's likely that neither `pytest` or `gtest` will be of much use, as we are interested in contributing towards better tools within ROS for constructing these kind of tests.
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