README

General information about this repository, including legal information, build instructions and known issues/limitations, are given in README.md in the repository root.

The self_test package

This package can be used to implement self tests for ROS packages.

Overview

It publishes a service for the node to call to perform the self test. This then performs multiple user-defined checks on the node and reports the results.

Example

The file selftest_example.cpp contains an example of how to use the self_test package.

When we then call $ ros2 run self_test run_selftest we get the following output:

[INFO] [...] [...]: Self test FAILED for device with id: [12345]
[INFO] [...] [...]: 1) Pretest
[INFO] [...] [...]:     Pretest completed successfully.
[INFO] [...] [...]: 2) ID Lookup
[INFO] [...] [...]:     ID Lookup successful
[INFO] [...] [...]: 3) Exception generating test
[ERROR] [...] [...]:    Uncaught exception: we did something that threw an exception
[INFO] [...] [...]: 4) Value generating test
[INFO] [...] [...]:     We successfully changed the value.
[INFO] [...] [...]:     [some value] 42
[INFO] [...] [...]: 5) Value testing test
[INFO] [...] [...]:     We observed the change in value

C++ API

The TestRunner class is the main class for self tests. It has a method _add which must be used to add the specific test as callback methods. The TestRunner then advertises the relevant self_test service and calls the aforemntioned callbacks when requested.

Nodes

run_selftest

This node is used to call the self test service.