Add colcon test verb

colcon_ros_cargo/task/ament_cargo/build.py

@@ -89,6 +89,10 @@ def _build_cmd(self, cargo_args):
             '--quiet'
         ] + cargo_args
 
+    # Installation is done by cargo ament-build
+    def _install_cmd(self, cargo_args):  # noqa: D102
+        pass
+
 
 def write_cargo_config_toml(package_paths):
     """Write the resolved package paths to config.toml.

colcon_ros_cargo/task/ament_cargo/test.py

@@ -0,0 +1,21 @@
+# Licensed under the Apache License, Version 2.0
+
+from colcon_cargo.task.cargo.test import CargoTestTask
+from colcon_core.plugin_system import satisfies_version
+from colcon_core.task import TaskExtensionPoint
+
+
+class AmentCargoTestTask(CargoTestTask):
+    """A test task for packages with Cargo.toml + package.xml.
+
+    Tests are already built by `colcon build` so this task only needs to
+    run them and doesn't need to worry about dependency management
+    (unlike the `AmentCargoBuildTask`).
+    """
+
+    def __init__(self):  # noqa: D107
+        super().__init__()
+        satisfies_version(TaskExtensionPoint.EXTENSION_POINT_VERSION, '^1.0')
+
+    def add_arguments(self, *, parser):  # noqa: D102
+        pass

setup.cfg

@@ -72,6 +72,8 @@ colcon_core.package_identification =
     ament_cargo = colcon_ros_cargo.package_identification.ament_cargo:AmentCargoPackageIdentification
 colcon_core.task.build =
     ament_cargo = colcon_ros_cargo.task.ament_cargo.build:AmentCargoBuildTask
+colcon_core.task.test =
+    ament_cargo = colcon_ros_cargo.task.ament_cargo.test:AmentCargoTestTask
 
 [flake8]
 import-order-style = google