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Repository Summary
| Description | Sample code for ROS2 seminar - ROS2 test framework |
| Checkout URI | https://github.com/fixstars/ros2-seminar-testing-sample.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-07-10 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| example_ament_cmake_lint | 1.0.0 |
| example_ament_python_lint | 1.0.0 |
| example_ctest | 1.0.0 |
| example_ament_ctest | 1.0.0 |
| example_ament_cmake_test | 1.0.0 |
| example_ament_cmake_gtest | 1.0.0 |
| example_ament_cmake_gmock | 1.0.0 |
| example_ament_cmake_google_benchmark | 1.0.0 |
| example_ament_python_pytest | 1.0.0 |
| example_ament_python_unittest | 1.0.0 |
| example_ament_cmake_pytest | 1.0.0 |
| example_launch_testing_ament_cmake | 1.0.0 |
| example_launch_pytest | 1.0.0 |
| example_ament_python_launch_testing | 0.0.0 |
| cpp_calc | 1.0.0 |
| integration | 1.0.0 |
| py_accum | 1.0.0 |
README
ROS2 Seminar - Testing Sample
This repository contains sample code of items presented in the seminar Autonomous driving realization by ROS2 test framework.
Folders.
- one-by-one : Samples of each test framework. Corresponds to the tests in the seminar material “Available tests and lint”.
- lint : Samples of lint. Corresponds to the lints in the seminar material “Available tests and lint”.
- sample : Sample of package development including test implementation. Corresponds to “test implementation in a sample app” in the seminar material.
By default, all tests pass. Test cases that fail are commented out, so uncomment them if you want to check the behavior.
Prerequisites
- ROS2 Humble (ros-humble-desktop)
- ros-humble-ament-cmake-google-benchmark
- ros-humble-launch-pytest
- bats (used in one of the samples)
Setup
Assuming that ROS2 Humble is already set up, install the above additional packages and mixin. Mixin is used to run performance tests.
# Install additional packages
sudo apt install ros-humble-ament-cmake-google-benchmark ros-humble-launch-pytest bats
# Install mixin
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update
Also, set the following environment variables to suppress SetuptoolsDeprecationWarning warnings, if necessary.
export PYTHONWARNINGS=ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install
Build
colcon build --symlink-install
Test
# Add `--event-handers` option to print test results to stdout.
colcon test --event-handlers console_direct+
Benchmark
Run performance tests. Although not explained in the seminar, performance tests using Google Benchmark are also available and can be run using one-by-one/06_example_ament_cmake_google_benchmark.
# Create another directory for release build
mkdir -p release
# Release build. `--mixin release` will set the necessary options.
# Set `-DAMENT_RUN_PERFORMANCE_TESTS=ON` to build performance test code.
colcon --log-base release/log build --build-base release/build --install-base release/intall --ament-cmake-args -DAMENT_RUN_PERFORMANCE_TESTS=ON --mixin release --symlink-install
# Run performance tests. Specify `--executor sequential` since parallel execution will affect the measurement.
colcon --log-base release/log test --build-base release/build --install-base release/intall --event-handlers console_direct+ --ctest-args ' -L performance --no-tests=ignore' --executor sequential
License
This project is under MIT License.
CONTRIBUTING
No CONTRIBUTING.md found.
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