Rocon Tests

Overview

A multimaster unit testing framework. Think of of rostest applied at a higher level again. Syntax, calling and execution are almost identical with the main difference being that you use a multimaster launcher (see notes for rocon_launch) instead of a regular ros launcher.

• rocon_test: a command line executor for multimaster tests.
• add_rocon_test: a cmake macro for including them in catkin build runs.

Example

Launchers

This example can be found in the sources here. A typical rocon launcher must be provided to rocon_test.

<concert>
  <launch package="rocon_test" name="talker.launch" port="11311"/>
  <launch package="rocon_test" name="listener.launch" port="11312"/>
</concert>

Each individual launcher is then either just a regular ros launcher, or one with tests included. e.g. for the above, we have tests in the listener:

<launch>
  <test test-name="listener" pkg="rocon_test" type="listener.py"/>
  <node name="latched_talker" pkg="rocon_test" type="talker.py" output="screen"/>
</launch>

Executing

> rocon_test rocon_test chatter.test --screen --text_mode

Text mode gives the full rocon_test output (setup, teardown notifications etc).

If your build directory is /opt/rocon/build, then you can find the results of the test in /opt/rocon/build/test_results/rocon_test/rostest-test_chatter.xml and the output from the test itself in /opt/rocon/build/test_results/rocon_test/rosunit-listener.xml.

Alternatively you can use catkin_make or yujin_make to run the tests, but with one catch - they won't run in parallel yet without getting roscore conflicts, so make sure you call:

> yujin_make --run_tests -j1

Other examples can be found in rocon_gateway_tests.

Could not convert RST to MD: No such file or directory - pandoc