@ -33,7 +33,6 @@ 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.
@ -7,5 +7,5 @@ The Contents are licensed under the Apache License, Version 2.0 (the "License").
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, the Contents are distributed under the License are distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
For further information about the Contents including inquiries about dual licensing, please contact Hello Robot Inc.
*stretch_core* provides the core ROS interfaces to the Stretch RE1 mobile manipulator from Hello Robot Inc. It includes the following nodes:
*stretch_core* provides the core ROS interfaces to the Stretch RE1 mobile manipulator from Hello Robot Inc. It includes the following nodes:
*stretch_driver* : node that communicates with the low-level Python library (stretch_body) to interface with the Stretch RE1
@ -14,7 +14,7 @@
## Testing
The primary testing framework being used within *stretch_ros* is pytest. Pytest is an open source testing framework that scales well and takes a functional approah resulting in minimal boiler plate code. First we should ensure that pytest is installed and up to date:
The primary testing framework being used within *stretch_ros* is pytest. Pytest is an open source testing framework that scales well and takes a functional approach resulting in minimal boiler plate code. First we should ensure that pytest is installed and up to date:
```bash
@ -22,27 +22,27 @@ The primary testing framework being used within *stretch_ros* is pytest. Pytest
>>$ pytest --version
pytest 6.2.4
```
Testing can be split into four different categories:
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 of standard ROS launch files. Test suites can be created simply by adding the following lines to the desired test file:
Tests suites are organized using the rostest framework which is an extension of standard ROS launch files. Test suites can be created simply by adding the following lines to the desired test file:
It is also important that test suites are created in a directory that has access to the *pytest_runner.py* file. This script converts the output file parameter to the pytest supported format. Additionally, it passes the test directory to pytest.
Below are some optional plugins that help make test reports more readable and with decoupling of test dependencies:
Before running any tests we should run the *stretch_robot_home.py* script at least once after startup and launch test suites that require nodes to be running via the roslaunch command as follows (we should not launch any test suites if we are using the *catkin_tools* package to build and run tests):
```bash
>>$ stretch_robot_home.py
>>$ stretch_robot_home.py
```
```bash
>>$ roslaunch <package_name><test_suite_name>
>>$ roslaunch <package_name><test_suite_name>
```
In order to run tests the following commands can be typed into the command line:
In order to run tests the following commands can be typed into the command line:
```bash
>>$ pytest -vv
>>$ pytest -vv
```
A test session will bootup that reports the root directory and all the plugins currently running. Within the test session pytest will search for all tests in the current directory and all subdirectories.
A test session will bootup that reports the root directory and all the plugins currently running. Within the test session pytest will search for all tests in the current directory and all subdirectories.
We can also run individual tests by specify the test name after the option -k as follows:
We can also run individual tests by specify the test name after the option -k as follows:
```bash
>>$ pytest -vv -k 'test_name'
```
In order to run all tests in all packages, we should call the *pytest* command inside of our *catkin_ws*.
In order to run all tests in all packages, we should call the *pytest* command inside of our *catkin_ws*.
Note, we can also run tests using the *catkin_tools* package. Thus we can assume we will be using *catkin build* instead of *catkin_make*. To install *catkin_tools* first ensure that we have the ROS repositories that contain *.deb* and *catkin_tools*:
@ -90,39 +87,41 @@ Note, we can also run tests using the *catkin_tools* package. Thus we can assume
If we are currently using the *catkin_make* build system we should delete the *devel* and *build* directories in our *catkin_ws* before running *catkin build*. Next, we can type the following inside of our *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:
The following line can be modified to specify individual packages as such:
```bash
>>$ catkin run_tests <package_name>
```
Finally, if we navigate to any ROS package within our work space we can run all of the tests associated with the package with the following command:
Finally, if we navigate to any ROS package within our work space we can run all of the tests associated with the package with the following command:
```bash
>>$ catkin run_tests --this
```bash
>>$ catkin run_tests --this
```
Results can be visualized by typing in the following command:
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. However, when running tests with *catkin_tools* some plugins will lose functionality such as Pytest Clarity.
This will show descriptive messages based on how many tests were run, errors, failures, skipped tests, and the respective package where the failure occurred. However, when running tests with *catkin_tools* some plugins will lose functionality such as Pytest Clarity.
## License
For license information, please see the LICENSE files.
For license information, please see the LICENSE files.
Binit Shah
3 years ago