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ros2-seminar-testing-sample repository

example_ament_cmake_lint example_ament_python_lint example_ctest example_ament_ctest example_ament_cmake_test example_ament_cmake_gtest example_ament_cmake_gmock example_ament_cmake_google_benchmark example_ament_python_pytest example_ament_python_unittest example_ament_cmake_pytest example_launch_testing_ament_cmake example_launch_pytest example_ament_python_launch_testing cpp_calc integration py_accum

ROS Distro
github

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
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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

日本語README

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

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