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cs:testing:start [2019/04/14 22:39] Andrew Rink Added commands for compile/run tests |
cs:testing:start [2019/04/23 13:21] Andrew Rink |
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===== Compiling and Running ===== | ===== Compiling and Running ===== | ||
- | To compile and run all tests, execute the following command from the ~/ros directory: | + | ==== Compile All Tests ==== |
+ | To compile all tests, execute the following command from any directory: | ||
<code bash> | <code bash> | ||
- | $ catkin_make run_tests | + | $ rsmake tests |
</code> | </code> | ||
- | To build just one specific test, execute the following command from the ~/ros directory: | + | ==== Run All Tests ==== |
+ | To run all tests, execute the following command from any directory: | ||
<code bash> | <code bash> | ||
- | $ catkin_make <test_name> | + | $ rsmake run_tests |
</code> | </code> | ||
- | The naming convention for tests is "test_" followed by the subsystem name, like "test_localization_system" | + | ==== Run One Test ==== |
- | + | To run a single test, execute the following command from any directory: | |
- | To run a specific test, navigate to the directory of that test (i.e. ~/ros/src/robosub/test/functional_tests/localization) and execute: | + | |
<code bash> | <code bash> | ||
- | $ rostest <test_name> | + | $ rostest robosub <test_name> |
</code> | </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. | + | 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. |