rostest_node_interface_validation

The package rostest_node_interface_validation extends rostest to add more testing functionalities at node level.

Author & Maintainer: Anthony Remazeilles, [email protected]

Affiliation : Tecnalia Research and Innovation, Spain

License: This project is under the Apache 2.0 License. See LICENSE.md for more details.

Getting started

Prerequisites

We assume ROS is installed on the machine. Code developed and tested so far under ROS kinetic.

Installing

# Assuming ~/catkin_ws is the workspace in which the repository has been downloaded
cd ~/catkin_ws
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO

Use

This package contains two scripts, test_service and test_filter. We just highlight the typical usage:

test_service

An example is provided in service_call.test:

<launch>
  <!-- Following node is a basic service server -->
  <node pkg="rostest_node_interface_validation" type="service_server.py" name="service_server"/>
  <!-- configuration of the test-->
  <test test-name="test_service" pkg="rostest_node_interface_validation" type="test_service" >
      <rosparam>
        calls:
          - name: /trigger_spec
            input: None
            output: {'success': True, 'message': 'well done!'}
      </rosparam>
  </test>
</launch>

where:

• name: is the service to test
• input: input parameters, defined as a dictionary
• output: expected output, defined as a dictionary

The test will connect to the service indicated, call it with the provided parameters, and compare the output received with the one defined. The test succeeds if all went well.

Services with no input messages should use term None for the input value, as illustrated above.

Another example can be generated if rospy_tutorial is installed. If one creates the following example example_srv.test file:

<launch>
  <test test-name="test_service" pkg="rostest_node_interface_validation" type="test_service" >
    <rosparam>
      calls:
        - name: /add_two_ints
          input: {'a': 0, 'b': 5.0}
          output: {'sum': 5}
    </rosparam>
  </test>
</launch>

# in shell 1
roscore
# in shell 2
rosrun rospy_tutorials add_two_ints_server
# in shell 3 (adjust rostest_node_interface_validation to the package where the test file is placed)
rostest rostest_node_interface_validation example_srv.test

test_filter

test_filter enables testing a filter-like node, that is supposed to publish a message after having processed a received message.

An example is provided in msg_filter.test:

<launch>
    <!-- Following node is a basic filter node that multiply received value by 2, and publish it. -->
    <!-- parameter "wait" can  be used to wait a given time before publishing the result. -->
    <node name="dummy_node" pkg="rostest_node_interface_validation" type="dummy_filter.py">
        <param name="wait" value="0.2" />
    </node>

    <test test-name="filter_test" pkg="rostest_node_interface_validation" type="test_filter">
        <rosparam>
          filters:
            - topic_in: /filter_in
              topic_out: /filter_out
              msg_in: {'data': 2.0}
              msg_out: {'data': 4.0}
              timeout: 1.0
        </rosparam>
    </test>
</launch>

dummy_node is a simple filter node, which doubles a received value. Parameter wait enables emulating the processing time before publishing the result.

The parameters of test_filter node are:

• topic_in: topic to which the filter expects the message
• topic_out: topic to which the filter will publish the filter result
• msg_in; input message to be transmitted to the filter, written as a python dictionary
• msg_out: output message that should be published by the filter
• timeout: maximum time expected for the generation of the filter output

Acknowledgements

This development is supported by the European Union’s Horizon 2020 project ROSIN. This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 732287.

The opinions and arguments expressed reflect only the author‘s view and reflect in no way the European Commission‘s opinions. The European Commission is not responsible for any use that may be made of the information it contains.