The Automated Test Framework (ATF)

CI-Status master :

CI-Status atf_test_apps/master :

The ATF is a testing framework written for ROS which supports executing integration and system tests, running benchmarks and monitor the code behaviour over time. The ATF provides basic building blocks for easy integration of the tests into your application. Furthermore the ATF provides everything to automate the execution and analysis of tests as well as a graphical web-based frontend to visualize the results.

Auto-generated TOC with https://imthenachoman.github.io/nGitHubTOC/.

• Architecture
  • Overview
  • Recording data
  • Analysing metrics
  • Visualising results
• Implemented metrics
• Installation
• Using the ATF (by examples)
• Contributing to the ATF
• Acknowledgements

Architecture

Overview

There is a presentation for a brief ATF introduction.

Recording data

Analysing metrics

Visualising results

Implemented metrics

The following metrics have been implemented so far:

| Metric | Description | Unit | Mode (span, snap) | |:————-:|:————–|:—–:|:————————–:| | interface | The interface metric checks if an interfaces (nodes, publishers, subscribers, service servers, action servers) matches its specification. | [bool] | snap | | publish_rate | The publish_rate metric measures the publising rate of a topic | [1/sec] | span | | tf_acceleration_translation | The tf_acceleration_translation metric measures the cartesian acceleration of a TF frame with respect to another frame. | [m/s^2] | span | | tf_distance_rotation | The tf_distance_rotation metric measures the cartesian angular distance of a TF frame with respect to another frame at the end of a testblock. | [rad] | snap | | tf_distance_translation | The tf_distance_translation metric measures the cartesian distance of a TF frame with respect to another frame at the end of a testblock. | [m] | snap | | tf_jerk_translation | The tf_jerk_translation metric measures the cartesian jerk of a TF frame with respect to another frame. | [m/s^3] | span | | tf_length_rotation | The tf_length_rotation metric measures the cartesian angular path (angular distance integrated over time) of a TF frame with respect to another frame. | [rad] | span | | tf_length_translation | The tf_length_translation metric measures the cartesian path (distance integrated over time) of a TF frame with respect to another frame. | [m] | span | | tf_velocity_translation | The tf_velocity_translation metric measures the cartesian velocity of a TF frame with respect to another frame. | [m/s] | span | | time | The time metric measures the elapsed time. | [sec] | span | | topic_data | The topic_data metric fetches a numerical data filed from a message | [any] | span, snap | | user_result | The result for the user_result metric can be set from the user within the application.py. | [any] | span, snap | See full list of implemented metrics at https://github.com/floweisshardt/atf/tree/master/atf_metrics.

Further metrics (in development):

| Metric | Description | Unit | Mode (span, snap) | |:————-:|:————–|:—–:|:————————–:| | resources | The resources metric measures the resource consumption of a node on the operating system level (CPU, RAM, IO). | [%], [MB], [MB/sec] | snap | | obstacle_distance | The obstacle_distance metric measures the distance between two meshes | [m] | snap | | message_match | The message_match metric checks if a message content matches its desired content. | [bool] | snap |

Installation

For installation instruction see ATF Installation.

Using the ATF (by examples)

For examples how to use the ATF see ATF Examples

Contributing to the ATF

For examples how to extend the ATF with your own contribution see ATF Contribution

Acknowledgements

The work leading to these results has received funding from the European Community’s Seventh Framework Program (FP7/2007-2013) under grant agreement no 609206 Factory-in-a-Day and the German Federal Ministry for Economic Affairs and Energy under grant agreement no 01MA13001A ReApp.