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cs:testing:start [2019/04/13 23:15] Andrew Rink Added descriptions |
cs:testing:start [2019/04/23 13:21] Andrew Rink |
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| Real-world testing is often performed at Gibb pool, which allows for full systems testing with an in-water pinger. | Real-world testing is often performed at Gibb pool, which allows for full systems testing with an in-water pinger. | ||
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| + | ===== Compiling and Running ===== | ||
| + | |||
| + | ==== Compile All Tests ==== | ||
| + | To compile all tests, execute the following command from any directory: | ||
| + | <code bash> | ||
| + | $ rsmake tests | ||
| + | </code> | ||
| + | |||
| + | ==== Run All Tests ==== | ||
| + | To run all tests, execute the following command from any directory: | ||
| + | <code bash> | ||
| + | $ rsmake run_tests | ||
| + | </code> | ||
| + | |||
| + | ==== Run One Test ==== | ||
| + | To run a single test, execute the following command from any directory: | ||
| + | <code bash> | ||
| + | $ rostest robosub <test_name> | ||
| + | </code> | ||
| + | By default, rostest creates a new master for all publishers and subscribers. If you wish to view messages being passed between nodes, simply add ''%%--%%reuse-master'' to the above command. | ||
| + | |||
| + | ===== Tested Components ===== | ||
| + | ==== Localization ==== | ||
| + | The localization system had an extensive testing suite implemented as part of the SLAM project. Localization is one of the fundamental systems relied upon by the SLAM system, so it's vital that this system performs up to expectations to ensure the maps generated are accurate and usable. | ||
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