Adds tests to software watchdogs

ros-safety / software_watchdogs

A library of (software) watchdogs based on DDS Quality of Service (QoS) policies and ROS 2 lifecycle nodes.

Apache License 2.0

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Adds tests to software watchdogs #11

Open norro opened 3 years ago

norro commented 3 years ago

Basic testing and linting
Launch tests for sw_watchdog package https://github.com/ros-safety/safety_working_group/issues/28 https://github.com/ros-safety/safety_working_group/issues/30

norro commented 3 years ago

Sorry for the large PR. Once I activated testing, I had to do a lot of linting first. The only semantic change is 85a620002aa7a34639530ff62271000803e667ea, adding a launch test that

Launches the watchdog
Launches the talker and heartbeat
Once heartbeat and watchdog are in sync, shuts down talker and heartbeat
Monitors the watchdog for the expected output, i.e. lease expiry and its transition to 'inactive'

@gbiggs, @robbel I'll appreciate your feedback/review.