First draft of docs

README.md

@@ -33,6 +33,7 @@ The *stretch_ros* repository holds ROS related code for the Stretch RE1 mobile m
 [stretch_moveit_config](stretch_gazebo/README.md) | Config files to use Stretch with the MoveIt Motion Planning Framework
 [stretch_navigation](stretch_navigation/README.md) | Support for the ROS navigation stack, including move_base, gmapping, and AMCL
 
+
 ## Licenses
 
 This software is intended for use with the Stretch RE1 mobile manipulator, which is a robot produced and sold by Hello Robot Inc. For further information, including inquiries about dual licensing, please contact Hello Robot Inc.
@@ -51,3 +52,7 @@ stretch_funmap | [LGPLv3](https://www.gnu.org/licenses/lgpl-3.0.en.html)
 stretch_gazebo | [Apache 2.0](http://www.apache.org/licenses/LICENSE-2.0)
 stretch_moveit_config | [Apache 2.0](http://www.apache.org/licenses/LICENSE-2.0)
 stretch_navigation | [Apache 2.0](http://www.apache.org/licenses/LICENSE-2.0)
+
+
+ 
+

stretch_core/README.md

@@ -12,6 +12,90 @@
 
 *keyboard_teleop* : node that provides a keyboard interface to control the robot's joints
 
+## Testing
+
+The primary testing framework being used within *stretch_ros* is pytest. Running tests are depedent on the catkin_tools library. Thus we can assume we will be using *catkin build* instead of *catkin_make*. To install catkin_tools first ensure that you have the ROS repositories that contain .deb and catkin_tools: 
+
+'''
+sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
+wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+'''
+
+Next you can install catkin_tools by running:
+
+'''bash
+>>$ sudo apt-get update
+>>$ sudo apt-get install python-catkin-tools
+'''
+
+If you are currently using the *catkin_make* build system you should delete the devel and build directories in your catkin_ws before running *catkin build*. Once catkin_tools is up and running you should then ensure that pytest is installed by running:
+
+'''bash
+>>$ pip3 install -U pytest
+'''
+
+And you can ensure the version is correct by running: 
+
+'''bash
+>>$ pytest --version
+pytest 6.2.4
+'''
+
+Testing can be split into four different categories: 
+
+1. Python library unit tests (pytest)
+2. ROS node unit tests (pytest + rostest)
+3. ROS node integration tests (pytest + rostest)
+4. ROS functional tests (pytest + rostest)
+
+Tests suites are organized using the rostest framework which is an extention on standard ROS launch files. The runner script converts the output file parameter to the pytest supported format, additionally, it passes the test directory to pytest. Test suites can be created simply by adding the following line to the desired test file: 
+
+Python Library Tests: 
+
+'''html
+<launch>
+  <param name="test_module" value="../src"/>
+  <test test-name="test_lib" pkg="my_pkg" type="pytest_runner.py" />
+</launch>
+'''
+
+ROS Node Unit Tests: 
+
+'''html 
+<launch>
+  <node pkg="my_pkg" type="publisher" name="publisher" />
+  <param name="test_module" value="listener"/>
+  <test test-name="test_listener" pkg="my_pkg" type="pytest_runner.py" />
+</launch>
+'''
+
+Next, you can type the following inside of your catkin_ws to compile and run all tests from all packages:
+
+'''bash
+>>$ catkin run_tests
+'''
+
+The following line can be modifed to specify indvidual packages as such: 
+
+'''bash
+>>$ catkin run_tests <package_name>
+'''
+
+Finally, if you navigate to any ROS package within your work space you can run all of the tests associated with the package with the following command: 
+
+'''bash 
+>>$ catkin run_tests --this 
+'''
+
+Results can be visualized by typing in the following command: 
+
+'''bash
+>>$ catkin_test_results
+'''
+
+This will show descriptive messages based on how many tests were run, errors, failures, skipped tests, and the respective pacakge where the failure occured. 
+
+
 ## License
 
 For license information, please see the LICENSE files.