tests_tutorial.rst

moveit1

Integration/Unit Tests

How to test changes to MoveIt on various robots, including unit and integration tests.

Note: This is a stub tutorial, to be expanded upon in the future

Getting Started

If you haven't already done so, make sure you've completed the steps in Getting Started </doc/tutorials/getting_started/getting_started>.

Integration Test

A Python-based integration test is available for testing higher-level move_group functionality in MoveIt - to run: :

rostest moveit_ros_planning_interface python_move_group.test

Test Robots

Panda

From the package panda_moveit_config: :

roslaunch panda_moveit_config demo.launch

Fanuc M-10iA

From the package moveit_resources: :

roslaunch moveit_resources demo.launch

Unit Tests

Writing Unit Tests

The entire test file, with includes, can be seen here <examples/tests> in the moveit_tutorials GitHub project.

MoveIt uses Google Test as a testing framework.

./test/tests.cpp

Running Unit Tests

To run unit tests locally on the entire MoveIt catkin workspace using catkin-tools: :

catkin run_tests -iv

To run a test for just 1 package:

catkin run_tests --no-deps --this -iv

To ignore most of the log/print output of the tests:

catkin run_tests --no-status --summarize --no-deps --this

Code Coverage

Test coverage measures the lines of code that are executed while running the test suite. To accumulate statistics and create a html coverage report, build the code without optimization and run the special _coverage target:

sudo apt install ros-noetic-code-coverage
catkin config --cmake-args -DENABLE_COVERAGE_TESTING=ON -DCMAKE_BUILD_TYPE=Debug
catkin build
catkin build moveit_core -v --no-deps --catkin-make-args moveit_core_coverage

The output will print where the coverage report is located and it looks similar to the following image: