diff --git a/core/roslib/bin/coverage-html b/core/roslib/bin/coverage-html
new file mode 100755
index 00000000..211668f0
--- /dev/null
+++ b/core/roslib/bin/coverage-html
@@ -0,0 +1,86 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Revision $Id: coverage-html 8966 2010-04-08 01:49:41Z kwc $
+
+"""
+Generate HTML reports from coverage.py (aka python-coverage). This is
+currently a no-frills backend tool.
+"""
+
+from __future__ import with_statement
+
+import sys
+import roslib
+
+try:
+    import coverage
+except ImportError, e:
+    print >> sys.stderr, "ERROR: cannot import python-coverage, coverage report will not run.\nTo install coverage, run 'easy_install coverage'"
+    sys.exit(1)
+
+def coverage_html():
+    import os.path
+    if not os.path.isfile('.coverage-modules'):
+        print >> sys.stderr, "No .coverage-modules file; nothing to do"
+        return
+
+    with open('.coverage-modules','r') as f:
+        modules = [x for x in f.read().split('\n') if x.strip()]
+
+    cov = coverage.coverage()
+    cov.load()
+
+    # import everything
+    for m in modules:
+        try:
+            base = m.split('.')[0]
+            roslib.load_manifest(base)
+            __import__(m)
+        except:
+            print >> sys.stderr, "WARN: cannot import %s"%base
+
+    print "Generating for\n"+'\n'.join([" * %s"%m for m in modules])
+
+    # load the module instances to pass to coverage so it can generate annotation html reports
+    mods = []
+
+    # TODO: rewrite, buggy
+    for m in modules:
+        mods.extend([v for v in sys.modules.values() if v and v.__name__.startswith(m) and not v in mods])
+        
+    # dump the output to covhtml directory
+    cov.html_report(mods, directory="covhtml")
+    
+if __name__ == '__main__':
+    coverage_html()
diff --git a/core/roslib/bin/rostest-results b/core/roslib/bin/rostest-results
new file mode 100755
index 00000000..6b92988b
--- /dev/null
+++ b/core/roslib/bin/rostest-results
@@ -0,0 +1,106 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Revision $Id: rostest-results 6512 2009-10-13 19:32:34Z kwc $
+
+## script that prints summary of aggregated test results to console
+
+import roslib; roslib.load_manifest('rostest')
+
+import sys
+import cStringIO
+import os
+
+import roslib.rospack
+import rostest.xmlresults as xmlr
+
+def create_summary(result, packages):
+    buff = cStringIO.StringIO()
+
+    buff.write('-'*80+'\n')
+    buff.write('\033[1m[AGGREGATED TEST RESULTS SUMMARY]\033[0m\n\n')
+
+    errors_failures = [r for r in result.test_case_results if r.errors or r.failures]
+    if errors_failures:
+        buff.write('ERRORS/FAILURES:\n')
+        for tc_result in errors_failures:
+            buff.write(tc_result.description)
+
+    buff.write("PACKAGES: \n%s\n\n"%'\n'.join([" * %s"%p for p in packages]))
+
+    buff.write('\nSUMMARY\n')
+    if (result.num_errors + result.num_failures) == 0:
+        buff.write("\033[32m * RESULT: SUCCESS\033[0m\n")
+    else:
+        buff.write("\033[1;31m * RESULT: FAIL\033[0m\n")
+
+    # TODO: still some issues with the numbers adding up if tests fail to launch
+
+    # number of errors from the inner tests, plus add in count for tests
+    # that didn't run properly ('result' object).
+    buff.write(" * TESTS: %s\n"%result.num_tests)
+    if result.num_errors:
+        buff.write("\033[1;31m * ERRORS: %s\033[0m\n"%result.num_errors)
+    else:
+        buff.write(" * ERRORS: 0\n")
+    if result.num_failures:
+        buff.write("\033[1;31m * FAILURES: %s\033[0m\n"%result.num_failures)
+    else:
+        buff.write(" * FAILURES: 0\n")
+    return buff.getvalue()
+
+def main():
+    from optparse import OptionParser
+    parser = OptionParser(usage="usage: rostest-results [options] package")
+    parser.add_option("--nodeps",
+                      dest="no_deps", default=False,
+                      action="store_true",
+                      help="don't compute test results for the specified package only")
+    (options, args) = parser.parse_args()
+    if len(args) != 1:
+        parser.error("Only one package may be specified")
+    
+    package = args[0]
+    if options.no_deps:
+        packages = [package]
+    else:
+        packages = [package] + roslib.rospack.rospackexec(['depends-on', package]).split('\n')
+        packages = [p for p in packages if p]
+
+    result = xmlr.read_all(packages)
+    print create_summary(result, packages)
+    if result.num_errors or result.num_failures:
+        sys.exit(1)
+  
+if __name__ == '__main__':
+  main()