This PR adds tests to the stretch_core package using the launch_pytest framework. The idea is to verify that once nodes are launched the interfaces are active and performant. All topics are checked for existence and their publish rates. All services are checked if they are callable. All actions are checked if they exist and can be called at a specific rate
The stretch_core package tests the following nodes:
stretch_driver - core topics, mode services and robot services
detect_aruco - camera topics and aruco topics and detection rate
d435i - camera topics and their rates
rplidar - scan topic and its rate
joint_trajectory_server - command rate for position and trajectory mode with smooth motion profiles
To test, use colcon test --packages-select stretch_core.
This PR adds tests to the stretch_core package using the launch_pytest framework. The idea is to verify that once nodes are launched the interfaces are active and performant. All topics are checked for existence and their publish rates. All services are checked if they are callable. All actions are checked if they exist and can be called at a specific rate
The stretch_core package tests the following nodes:
To test, use
colcon test --packages-select stretch_core.