tortoisebot_ros1_test

Simulation

start

source ~/simulation_ws/devel/setup.bash
roslaunch tortoisebot_gazebo tortoisebot_playground.launch

reset

rosservice call /gazebo/reset_world "{}"

Action

compile

cd simulation_ws/;catkin_make;source devel/setup.bash

start server

source ~/simulation_ws/devel/setup.bash
rosrun tortoisebot_waypoints tortoisebot_action_server.py

run client

source ~/simulation_ws/devel/setup.bash
rosrun tortoisebot_waypoints exp_action_client.py

TEST

build

cd simulation_ws/;catkin_make;source devel/setup.bash

run test

cd simulation_ws/;catkin_make run_tests

launch test

rostest --text tortoisebot_waypoints waypoints_test.test --reuse-master

check log

vim /home/user/.ros/test_results/tortoisebot_waypoints/rostest-test_waypoints_test.xml

clean tests

rm -r /home/user/simulation_ws/build/test_results/tortoisebot_waypoints

RESULTS

[!NOTE] test-pass: tests pass correctly if the goal is reached before and before timeout

[!CAUTION] test-fail: tests don't pass correctly if the goal is not reached or due to timeout