Test initializing parameters from command line

test_cli/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+
+project(test_cli)
+
+find_package(ament_cmake_auto REQUIRED)
+
+if(BUILD_TESTING)
+  # Default to C++14
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 14)
+  endif()
+
+  find_package(ament_cmake REQUIRED)
+  find_package(ament_lint_auto REQUIRED)
+  find_package(ament_cmake_pytest REQUIRED)
+  find_package(rclcpp REQUIRED)
+
+  ament_lint_auto_find_test_dependencies()
+
+  add_executable(initial_params_rclcpp
+    test/initial_params.cpp)
+  ament_target_dependencies(initial_params_rclcpp
+    "rclcpp")
+
+  ament_add_pytest_test(test_params_yaml
+    test/test_params_yaml.py
+    ENV
+      INITIAL_PARAMS_RCLCPP=$<TARGET_FILE:initial_params_rclcpp>
+    TIMEOUT 120)
+  set_tests_properties(test_params_yaml
+    PROPERTIES DEPENDS
+      initial_params_rclcpp)
+endif()
+
+ament_auto_package()

test_cli/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>test_cli</name>
+  <version>0.4.0</version>
+  <description>
+    Test command line arguments passed to ros2 executables.
+  </description>
+  <maintainer email="sloretz@openrobotics.org">Shane Loretz</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <build_depend>ament_cmake</build_depend>
+
+  <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>launch</test_depend>
+  <test_depend>rclcpp</test_depend>
+  <test_depend>rcl_interfaces</test_depend>
+  <test_depend>ros2param</test_depend>
+  <test_depend>rclpy</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

test_cli/test/initial_params.cpp

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+// Copyright 2018 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <string>
+#include <vector>
+
+#include "rclcpp/rclcpp.hpp"
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+
+  std::string node_name = "initial_params_node";
+  std::string namespace_ = "/";
+  auto node = rclcpp::Node::make_shared(node_name, namespace_);
+
+  rclcpp::spin(node);
+
+  rclcpp::shutdown();
+  return 0;
+}