🔥 pyrostest 🔥
Pyrostest is a (more) pythonic framework for writing ros tests.
Writing rostests and rostunit tests is annoying. You have to write launch files
for all of your tests and then do strange things in your unittests and then
somehow the rostests and unittests will communicate. To be honest, I never could
get rostest to work. So I built something better.
pyrostest allows you to test
your ros nodes in pure python, no need for xml files.
Here's a minimal example of a pyrostest test. Assume you have a ros node,
add_one in the ros package
pkg. The node subscribes to
input, a Float64
message, and published to
output, another Float64, it adds one to the input
and publishes it. This would test that functionality
from pyrostest import RosTest, launch_node, mock_node from std_msgs.msg import Float64 class TestAddOne(RosTest): @launch_node('pkg', 'add_one') def test_add_one(self): with self.mock_pub('/input', Float64, queue_size=0) as p: with self.check_topic('/output', Float64) as r: p.send(Float64(7)) assert r.message.data == 8 # or self.assertEqual
This code will spin up an isolated instance of Roscore, as well as all of the nodes needed for testing. It will then publish the float 7, and wait until the data has been recieved, and assert about its value.