README
System Tests
The package provides tests for Component-Testing, Subsystem-Testing, and Full-System integration. Its main goal is to provide a location for smoke and integration tests of the navigation system to ensure that things are working properly on a high level. Unit and specific subsystem testing happens in the packages specific to those algorithms.
Most tests in this package will spin up Gazebo instances of a robot in an environment to have the robot complete some task in the space while tracking a specific modules results. Some examples include
System tests of a robot in a sandbox environment trying navigate to pose, navigate through poses, and waypoint following navigation types
Random planning of thousands of paths in a generated environment to ensure default planners are working properly
Testing the system can be brought up and down on the lifecycle transitions successfully multiple times
Testing that the keepout and speed restricted zones work in a practical environment without going into keepout zones and slowing in speed restricted areas
Testing behaviors in a sandbox environment to ensure they trigger and complete collision checking properly
Testing system failures are properly recorded and can be recovered from
This is primarily for use in Nav2 CI to establish a high degree of maintainer confidence when merging in large architectural changes to the Nav2 project. However, this is also useful to test installs of Nav2 locally or for additional information.