Merge pull request 'feat(tests): social-bot integration test suite (Issue #108)' (#118) from sl-jetson/issue-108-integration-tests into main

.gitea/workflows/social-tests-ci.yml

@@ -0,0 +1,239 @@
+# .gitea/workflows/social-tests-ci.yml
+# Gitea Actions CI pipeline for social-bot integration tests (Issue #108)
+#
+# Triggers: push or PR to main, and any branch matching sl-jetson/*
+#
+# Jobs:
+#   1. lint       — flake8 + pep257 on saltybot_social_tests
+#   2. core-tests — launch + topic + services + GPU-budget + shutdown (no GPU)
+#   3. latency    — end-to-end latency profiling (GPU runner, optional)
+
+name: social-bot integration tests
+
+on:
+  push:
+    branches:
+      - main
+      - "sl-jetson/**"
+    paths:
+      - "jetson/ros2_ws/src/saltybot_social/**"
+      - "jetson/ros2_ws/src/saltybot_social_tests/**"
+      - "jetson/ros2_ws/src/saltybot_social_msgs/**"
+      - "jetson/ros2_ws/src/saltybot_social_nav/**"
+      - "jetson/ros2_ws/src/saltybot_social_face/**"
+      - "jetson/ros2_ws/src/saltybot_social_tracking/**"
+      - ".gitea/workflows/social-tests-ci.yml"
+  pull_request:
+    branches:
+      - main
+    paths:
+      - "jetson/ros2_ws/src/saltybot_social*/**"
+      - ".gitea/workflows/social-tests-ci.yml"
+
+env:
+  ROS_DOMAIN_ID: "108"
+  SOCIAL_TEST_FULL: "0"
+  SOCIAL_STACK_RUNNING: "1"
+
+jobs:
+  # ── 1. Lint ──────────────────────────────────────────────────────────────────
+  lint:
+    name: Lint (flake8 + pep257)
+    runs-on: ubuntu-latest
+    container:
+      image: ros:humble-ros-base-jammy
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install lint tools
+        run: |
+          pip3 install --no-cache-dir flake8 pydocstyle
+
+      - name: flake8 — saltybot_social_tests
+        run: |
+          flake8 \
+            jetson/ros2_ws/src/saltybot_social_tests/saltybot_social_tests/ \
+            jetson/ros2_ws/src/saltybot_social_tests/test/ \
+            --max-line-length=100 \
+            --ignore=E501,W503 \
+            --exclude=__pycache__
+
+      - name: pep257 — saltybot_social_tests
+        run: |
+          pydocstyle \
+            jetson/ros2_ws/src/saltybot_social_tests/saltybot_social_tests/ \
+            jetson/ros2_ws/src/saltybot_social_tests/test/ \
+            --add-ignore=D100,D104,D205,D400 \
+            --match='(?!test_helpers|mock_sensors).*\.py' || true
+
+  # ── 2. Core integration tests (no GPU) ───────────────────────────────────────
+  core-tests:
+    name: Core integration tests (mock sensors, no GPU)
+    needs: lint
+    runs-on: ubuntu-latest
+    container:
+      image: ros:humble-ros-base-jammy
+    env:
+      ROS_DOMAIN_ID: "108"
+      SOCIAL_TEST_FULL: "0"
+      SOCIAL_STACK_RUNNING: "1"
+      PYTHONUNBUFFERED: "1"
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install dependencies
+        run: |
+          apt-get update -q && apt-get install -y --no-install-recommends \
+            ros-humble-launch-testing \
+            ros-humble-launch-testing-ros \
+            ros-humble-vision-msgs \
+            ros-humble-tf2-ros \
+            ros-humble-tf2-geometry-msgs \
+            ros-humble-cv-bridge \
+            ros-humble-nav-msgs \
+            ros-humble-std-srvs \
+            procps \
+            && rm -rf /var/lib/apt/lists/*
+          pip3 install --no-cache-dir "pytest>=7.0" "pytest-timeout>=2.1"
+
+      - name: Build workspace
+        run: |
+          . /opt/ros/humble/setup.bash
+          cd /
+          # Symlink source into a temp workspace to avoid long paths
+          mkdir -p /ros2_ws/src
+          for pkg in saltybot_social_msgs saltybot_social saltybot_social_face \
+                     saltybot_social_nav saltybot_social_enrollment \
+                     saltybot_social_tracking saltybot_social_personality \
+                     saltybot_social_tests; do
+            ln -sfn \
+              "$GITHUB_WORKSPACE/jetson/ros2_ws/src/$pkg" \
+              "/ros2_ws/src/$pkg"
+          done
+          cd /ros2_ws
+          colcon build \
+            --packages-select \
+              saltybot_social_msgs \
+              saltybot_social \
+              saltybot_social_face \
+              saltybot_social_nav \
+              saltybot_social_enrollment \
+              saltybot_social_tracking \
+              saltybot_social_personality \
+              saltybot_social_tests \
+            --symlink-install \
+            --event-handlers console_cohesion+
+
+      - name: Launch test stack (background)
+        run: |
+          . /opt/ros/humble/setup.bash
+          . /ros2_ws/install/setup.bash
+          ros2 daemon start || true
+          ros2 launch saltybot_social_tests social_test.launch.py \
+            enable_speech:=false enable_llm:=false enable_tts:=false \
+            &
+          echo "LAUNCH_PID=$!" >> "$GITHUB_ENV"
+          # Wait for stack to come up
+          sleep 15
+
+      - name: Run core tests
+        run: |
+          . /opt/ros/humble/setup.bash
+          . /ros2_ws/install/setup.bash
+          pytest \
+            "$GITHUB_WORKSPACE/jetson/ros2_ws/src/saltybot_social_tests/test/" \
+            -v \
+            --timeout=120 \
+            --tb=short \
+            -m "not gpu_required and not full_stack and not slow" \
+            --junit-xml=test-results-core.xml \
+            -k "not test_latency_sla and not test_shutdown"
+
+      - name: Shutdown test stack
+        if: always()
+        run: |
+          [ -n "${LAUNCH_PID:-}" ] && kill -SIGTERM "$LAUNCH_PID" 2>/dev/null || true
+          sleep 3
+
+      - name: Run shutdown tests
+        run: |
+          . /opt/ros/humble/setup.bash
+          . /ros2_ws/install/setup.bash
+          pytest \
+            "$GITHUB_WORKSPACE/jetson/ros2_ws/src/saltybot_social_tests/test/test_shutdown.py" \
+            -v --timeout=60 --tb=short \
+            --junit-xml=test-results-shutdown.xml
+
+      - name: Upload test results
+        if: always()
+        uses: actions/upload-artifact@v4
+        with:
+          name: test-results-core
+          path: test-results-*.xml
+
+  # ── 3. GPU latency tests (Orin runner, optional) ──────────────────────────────
+  latency-gpu:
+    name: Latency profiling (GPU, Orin)
+    needs: core-tests
+    runs-on: [self-hosted, orin, gpu]
+    if: github.ref == 'refs/heads/main' || contains(github.event.pull_request.labels.*.name, 'run-gpu-tests')
+    env:
+      ROS_DOMAIN_ID: "108"
+      SOCIAL_TEST_FULL: "1"
+      SOCIAL_TEST_SPEECH: "0"
+      SOCIAL_STACK_RUNNING: "1"
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Build workspace (Orin)
+        run: |
+          . /opt/ros/humble/setup.bash
+          cd /ros2_ws
+          colcon build \
+            --packages-select saltybot_social_tests saltybot_social \
+            --symlink-install
+
+      - name: Launch full stack (with LLM, no speech/TTS)
+        run: |
+          . /opt/ros/humble/setup.bash
+          . /ros2_ws/install/setup.bash
+          SOCIAL_TEST_FULL=1 \
+          ros2 launch saltybot_social_tests social_test.launch.py \
+            enable_speech:=false enable_tts:=false \
+            &
+          echo "LAUNCH_PID=$!" >> "$GITHUB_ENV"
+          sleep 20
+
+      - name: GPU memory check
+        run: |
+          . /opt/ros/humble/setup.bash
+          . /ros2_ws/install/setup.bash
+          SOCIAL_STACK_RUNNING=1 \
+          GPU_BASELINE_MB=$(nvidia-smi --query-gpu=memory.used --format=csv,noheader,nounits) \
+          pytest \
+            "$GITHUB_WORKSPACE/jetson/ros2_ws/src/saltybot_social_tests/test/test_gpu_memory.py" \
+            -v --timeout=120 --tb=short \
+            --junit-xml=test-results-gpu.xml
+
+      - name: Latency profiling
+        run: |
+          . /opt/ros/humble/setup.bash
+          . /ros2_ws/install/setup.bash
+          SOCIAL_TEST_FULL=1 SOCIAL_STACK_RUNNING=1 \
+          pytest \
+            "$GITHUB_WORKSPACE/jetson/ros2_ws/src/saltybot_social_tests/test/test_latency.py" \
+            -v --timeout=300 --tb=short \
+            --junit-xml=test-results-latency.xml
+
+      - name: Shutdown
+        if: always()
+        run: |
+          [ -n "${LAUNCH_PID:-}" ] && kill -SIGTERM "$LAUNCH_PID" 2>/dev/null || true
+          sleep 5
+
+      - name: Upload GPU results
+        if: always()
+        uses: actions/upload-artifact@v4
+        with:
+          name: test-results-gpu
+          path: test-results-*.xml

jetson/ros2_ws/src/saltybot_social_tests/bags/README.md

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+# Social-bot Test Bags
+
+This directory holds rosbag2 recordings used for replaying mock sensor data in CI.
+
+## Bag contents
+
+Each test bag records the following topics for **30 seconds** at real-time rate:
+
+| Topic | Type | Rate | Notes |
+|---|---|---|---|
+| `/camera/color/image_raw` | `sensor_msgs/Image` | 15 Hz | 640×480 RGB8 |
+| `/uwb/target` | `geometry_msgs/PoseStamped` | 10 Hz | simulated UWB |
+| `/social/faces/detections` | `FaceDetectionArray` | 15 Hz | may be empty |
+| `/social/tracking/fused_target` | `FusedTarget` | 10 Hz | single person |
+| `/social/persons` | `PersonStateArray` | 5 Hz | one engaged person |
+| `/social/orchestrator/state` | `std_msgs/String` | 2 Hz | JSON state |
+| `/odom` | `nav_msgs/Odometry` | 20 Hz | zero motion |
+| `/tf`, `/tf_static` | `TF2` | varies | camera → base_link |
+
+## Recording a new bag
+
+On hardware with the full social-bot stack running:
+
+```bash
+# Record 30s of live sensor data
+./bags/record_social_test.sh --duration 30
+
+# Record from mock sensor pub only (no hardware)
+MOCK_ONLY=1 ./bags/record_social_test.sh --duration 15 --name social_test_mock
+```
+
+## Replaying a bag in CI
+
+The Docker CI entrypoint uses live mock publishers (not rosbag replay) for the
+default CI tests. To use a recorded bag instead:
+
+```bash
+# In a sourced ROS2 shell:
+ros2 bag play bags/social_test_YYYYMMDD_HHMMSS/ --loop --rate 1.0
+```
+
+Then run the test suite against the replayed data:
+
+```bash
+export SOCIAL_STACK_RUNNING=1
+pytest test/ -v -m "not full_stack"
+```
+
+## Bag naming convention
+
+`social_test_YYYYMMDD_HHMMSS` — date/time of recording.
+
+Bags committed to this directory should be small (< 50 MB) — use a 5-second
+clip or compress images to avoid bloating the repository.  Large reference bags
+(> 100 MB) should be stored on the NVMe and referenced by path.

jetson/ros2_ws/src/saltybot_social_tests/bags/record_social_test.sh

@@ -0,0 +1,100 @@
+#!/bin/bash
+# record_social_test.sh — Record a rosbag for social-bot integration test replay.
+#
+# Records all topics required by the social-bot CI test suite.
+# Output: bags/social_test_YYYYMMDD_HHMMSS/  (ROS2 bag format)
+#
+# Usage:
+#   # Record 30s with live hardware:
+#   ./bags/record_social_test.sh --duration 30
+#
+#   # Record from already-running mock sensor stack:
+#   MOCK_ONLY=1 ./bags/record_social_test.sh --duration 15
+#
+# Requirements: ROS2 Humble sourced, social-bot stack running
+
+set -euo pipefail
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+BAGS_DIR="$SCRIPT_DIR"
+
+# ── Args ──────────────────────────────────────────────────────────────────────
+DURATION=30
+BAG_NAME="social_test_$(date +%Y%m%d_%H%M%S)"
+MOCK_ONLY="${MOCK_ONLY:-0}"
+
+while [[ $# -gt 0 ]]; do
+    case "$1" in
+        --duration) DURATION="$2"; shift 2 ;;
+        --name)     BAG_NAME="$2";  shift 2 ;;
+        *) echo "Unknown arg: $1"; exit 1 ;;
+    esac
+done
+
+BAG_PATH="$BAGS_DIR/$BAG_NAME"
+
+# ── Source ROS2 ───────────────────────────────────────────────────────────────
+source /opt/ros/humble/setup.bash 2>/dev/null || true
+if [ -f /ros2_ws/install/setup.bash ]; then
+    source /ros2_ws/install/setup.bash
+fi
+
+echo "[record] Target bag: $BAG_PATH"
+echo "[record] Duration:   ${DURATION}s"
+
+# ── Topics to record ──────────────────────────────────────────────────────────
+TOPICS=(
+    # Mock / hardware sensor topics
+    "/camera/color/image_raw"
+    "/camera/color/camera_info"
+    "/camera/depth/image_rect_raw"
+    "/uwb/target"
+    "/scan"
+    "/odom"
+    "/map"
+    # Social-bot output topics
+    "/social/faces/detections"
+    "/social/faces/embeddings"
+    "/social/tracking/fused_target"
+    "/social/persons"
+    "/social/orchestrator/state"
+    "/social/speech/vad_state"
+    "/social/speech/transcript"
+    "/social/conversation/response"
+    "/social/nav/mode"
+    "/social/nav/status"
+    "/social/attention/target_id"
+    "/cmd_vel"
+    # TF for coordinate frames
+    "/tf"
+    "/tf_static"
+)
+
+# ── Start mock sensor pub if MOCK_ONLY ────────────────────────────────────────
+MOCK_PID=""
+if [[ "$MOCK_ONLY" == "1" ]]; then
+    echo "[record] Starting mock sensor publisher..."
+    ros2 run saltybot_social_tests mock_sensor_pub &
+    MOCK_PID=$!
+    sleep 2
+fi
+
+# ── Record ────────────────────────────────────────────────────────────────────
+echo "[record] Recording..."
+ros2 bag record \
+    --output "$BAG_PATH" \
+    --storage sqlite3 \
+    --max-bag-duration "$DURATION" \
+    "${TOPICS[@]}" &
+BAG_PID=$!
+
+sleep "$DURATION"
+wait "$BAG_PID" 2>/dev/null || true
+
+# ── Cleanup ───────────────────────────────────────────────────────────────────
+if [[ -n "$MOCK_PID" ]]; then
+    kill "$MOCK_PID" 2>/dev/null || true
+fi
+
+echo "[record] Done. Bag saved to: $BAG_PATH"
+echo "[record] Contents:"
+ros2 bag info "$BAG_PATH" 2>/dev/null || echo "(ros2 bag info unavailable)"

jetson/ros2_ws/src/saltybot_social_tests/docker/Dockerfile.ci

@@ -0,0 +1,93 @@
+# Dockerfile.ci — Lightweight CI test container for social-bot integration tests.
+#
+# Does NOT include GPU AI deps (whisper/LLM/TTS/TensorRT).
+# Runs the core ROS2 stack with mock sensors only — no real hardware required.
+#
+# Build:
+#   docker build -f docker/Dockerfile.ci \
+#     -t saltybot/social-tests-ci:latest \
+#     ../../../../     # context = saltylab-firmware root
+#
+# Run (via compose):
+#   docker compose -f docker/docker-compose.ci.yml up --exit-code-from test-runner
+
+FROM ros:humble-ros-base-jammy
+
+LABEL maintainer="sl-jetson"
+LABEL description="social-bot integration tests — CI mode (no GPU, mock sensors)"
+
+ENV DEBIAN_FRONTEND=noninteractive
+ENV ROS_DISTRO=humble
+ENV PYTHONDONTWRITEBYTECODE=1
+ENV PYTHONUNBUFFERED=1
+
+# ── System deps ───────────────────────────────────────────────────────────────
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    python3-dev python3-pip python3-setuptools python3-wheel \
+    python3-pytest \
+    ros-humble-launch-testing \
+    ros-humble-launch-testing-ament-cmake \
+    ros-humble-launch-testing-ros \
+    ros-humble-rosbag2 \
+    ros-humble-rosbag2-storage-default-plugins \
+    ros-humble-vision-msgs \
+    ros-humble-tf2-ros \
+    ros-humble-tf2-geometry-msgs \
+    ros-humble-cv-bridge \
+    ros-humble-nav-msgs \
+    ros-humble-geometry-msgs \
+    ros-humble-sensor-msgs \
+    ros-humble-std-srvs \
+    procps \
+    && rm -rf /var/lib/apt/lists/*
+
+# ── Python test deps ──────────────────────────────────────────────────────────
+RUN pip3 install --no-cache-dir \
+    "pytest>=7.0" \
+    "pytest-timeout>=2.1" \
+    "pytest-xdist>=3.0"
+
+# ── Workspace ─────────────────────────────────────────────────────────────────
+RUN mkdir -p /ros2_ws/src
+WORKDIR /ros2_ws
+
+# Copy only the packages needed for the social-bot integration tests
+COPY jetson/ros2_ws/src/saltybot_social_msgs  /ros2_ws/src/saltybot_social_msgs/
+COPY jetson/ros2_ws/src/saltybot_social       /ros2_ws/src/saltybot_social/
+COPY jetson/ros2_ws/src/saltybot_social_face  /ros2_ws/src/saltybot_social_face/
+COPY jetson/ros2_ws/src/saltybot_social_nav   /ros2_ws/src/saltybot_social_nav/
+COPY jetson/ros2_ws/src/saltybot_social_enrollment /ros2_ws/src/saltybot_social_enrollment/
+COPY jetson/ros2_ws/src/saltybot_social_tracking   /ros2_ws/src/saltybot_social_tracking/
+COPY jetson/ros2_ws/src/saltybot_social_personality /ros2_ws/src/saltybot_social_personality/
+COPY jetson/ros2_ws/src/saltybot_social_tests  /ros2_ws/src/saltybot_social_tests/
+
+# ── Build ─────────────────────────────────────────────────────────────────────
+SHELL ["/bin/bash", "-c"]
+RUN source /opt/ros/humble/setup.bash && \
+    cd /ros2_ws && \
+    colcon build \
+      --packages-select \
+        saltybot_social_msgs \
+        saltybot_social \
+        saltybot_social_face \
+        saltybot_social_nav \
+        saltybot_social_enrollment \
+        saltybot_social_tracking \
+        saltybot_social_personality \
+        saltybot_social_tests \
+      --symlink-install \
+      --cmake-args -DBUILD_TESTING=ON \
+    && echo "Build complete"
+
+# ── Test entrypoint ───────────────────────────────────────────────────────────
+COPY jetson/ros2_ws/src/saltybot_social_tests/docker/entrypoint-ci.sh /entrypoint-ci.sh
+RUN chmod +x /entrypoint-ci.sh
+
+# CI env defaults (all can be overridden via docker-compose environment:)
+ENV SOCIAL_TEST_FULL=0
+ENV SOCIAL_TEST_SPEECH=0
+ENV SOCIAL_STACK_RUNNING=0
+ENV ROS_DOMAIN_ID=108
+
+ENTRYPOINT ["/entrypoint-ci.sh"]
+CMD ["pytest", "/ros2_ws/src/saltybot_social_tests/test/", "-v", "--timeout=120"]

jetson/ros2_ws/src/saltybot_social_tests/docker/docker-compose.ci.yml

@@ -0,0 +1,75 @@
+# docker-compose.ci.yml — CI test runner for social-bot integration tests.
+#
+# Usage:
+#   # Default: core CI tests (no GPU, mock sensors only)
+#   docker compose -f docker/docker-compose.ci.yml up --exit-code-from test-runner
+#
+#   # Full tests with GPU (requires nvidia container runtime):
+#   SOCIAL_TEST_FULL=1 \
+#   docker compose -f docker/docker-compose.ci.yml \
+#     --profile gpu up --exit-code-from test-runner
+#
+# Build image first:
+#   docker compose -f docker/docker-compose.ci.yml build
+
+version: "3.9"
+
+# ── Shared env ────────────────────────────────────────────────────────────────
+x-common-env: &common-env
+  ROS_DOMAIN_ID: "108"
+  PYTHONUNBUFFERED: "1"
+
+services:
+  # ── Core CI test runner (no GPU) ─────────────────────────────────────────────
+  test-runner:
+    build:
+      context: ../../../../        # saltylab-firmware root
+      dockerfile: jetson/ros2_ws/src/saltybot_social_tests/docker/Dockerfile.ci
+    image: saltybot/social-tests-ci:latest
+    container_name: social_tests_ci
+    environment:
+      <<: *common-env
+      SOCIAL_TEST_FULL: "${SOCIAL_TEST_FULL:-0}"
+      SOCIAL_TEST_SPEECH: "${SOCIAL_TEST_SPEECH:-0}"
+      SOCIAL_STACK_RUNNING: "1"   # stack is started inside entrypoint
+    command: >
+      pytest
+        /ros2_ws/src/saltybot_social_tests/test/
+        -v
+        --timeout=120
+        --tb=short
+        -m "not gpu_required and not full_stack"
+        --junit-xml=/tmp/test-results/social-tests.xml
+    volumes:
+      - test-results:/tmp/test-results
+    # No network_mode host needed — ROS2 uses shared memory loopback in container
+
+  # ── GPU full-stack tests (Orin / CUDA host) ───────────────────────────────
+  test-runner-gpu:
+    extends:
+      service: test-runner
+    container_name: social_tests_ci_gpu
+    environment:
+      <<: *common-env
+      SOCIAL_TEST_FULL: "1"
+      SOCIAL_TEST_SPEECH: "1"
+      SOCIAL_STACK_RUNNING: "1"
+    command: >
+      pytest
+        /ros2_ws/src/saltybot_social_tests/test/
+        -v
+        --timeout=300
+        --tb=short
+        --junit-xml=/tmp/test-results/social-tests-gpu.xml
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: all
+              capabilities: [gpu]
+    profiles:
+      - gpu
+
+volumes:
+  test-results:

jetson/ros2_ws/src/saltybot_social_tests/docker/entrypoint-ci.sh

@@ -0,0 +1,36 @@
+#!/bin/bash
+# entrypoint-ci.sh — CI container entrypoint for social-bot integration tests.
+set -euo pipefail
+
+source /opt/ros/humble/setup.bash
+source /ros2_ws/install/setup.bash
+
+# Start the ROS2 daemon in the background so node discovery works
+ros2 daemon start 2>/dev/null || true
+
+# Launch the test stack in the background using the test launch file
+# (orchestrator + face + tracking + mock_sensors — no GPU speech/LLM/TTS)
+echo "[CI] Launching social-bot test stack..."
+ros2 launch saltybot_social_tests social_test.launch.py \
+    enable_speech:=false \
+    enable_llm:=false \
+    enable_tts:=false \
+    &
+LAUNCH_PID=$!
+
+# Give the stack up to 30s to come up
+echo "[CI] Waiting for stack to initialise (max 30s)..."
+sleep 10
+
+# Run tests (command passed as args to this script)
+echo "[CI] Running tests: $*"
+"$@"
+TEST_EXIT=$?
+
+# Graceful shutdown
+echo "[CI] Shutting down stack (PID $LAUNCH_PID)..."
+kill -SIGTERM "$LAUNCH_PID" 2>/dev/null || true
+sleep 5
+kill -SIGKILL "$LAUNCH_PID" 2>/dev/null || true
+
+exit $TEST_EXIT

jetson/ros2_ws/src/saltybot_social_tests/launch/social_test.launch.py

@@ -0,0 +1,177 @@
+"""social_test.launch.py — Launch social-bot stack in test/CI mode.
+
+Differences from production social_bot.launch.py:
+  - speech/TTS disabled by default (no mic/speaker in CI)
+  - LLM disabled by default (no model file in CI; use CI_FULL=1 to enable)
+  - mock_sensor_pub node started automatically
+  - Shorter TimerAction delays (2s instead of production delays)
+  - ROS_DOMAIN_ID isolated to avoid collision with other test runs
+
+Env vars:
+  SOCIAL_TEST_FULL=1   — enable speech + LLM + TTS (requires GPU + models)
+  SOCIAL_TEST_SPEECH=1 — enable speech pipeline only
+"""
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument, GroupAction, LogInfo, TimerAction, SetEnvironmentVariable
+)
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration, PythonExpression, EnvironmentVariable
+from launch_ros.actions import Node
+
+_FULL = os.environ.get("SOCIAL_TEST_FULL", "0") == "1"
+_SPEECH = _FULL or os.environ.get("SOCIAL_TEST_SPEECH", "0") == "1"
+
+
+def generate_launch_description() -> LaunchDescription:
+    social_pkg = get_package_share_directory("saltybot_social")
+    tests_pkg  = get_package_share_directory("saltybot_social_tests")
+
+    args = [
+        DeclareLaunchArgument("enable_speech",       default_value="true" if _SPEECH else "false"),
+        DeclareLaunchArgument("enable_llm",          default_value="true" if _FULL else "false"),
+        DeclareLaunchArgument("enable_tts",          default_value="true" if _FULL else "false"),
+        DeclareLaunchArgument("enable_orchestrator", default_value="true"),
+        DeclareLaunchArgument("enable_face",         default_value="true"),
+        DeclareLaunchArgument("enable_tracking",     default_value="true"),
+        DeclareLaunchArgument("enable_nav",          default_value="true"),
+        DeclareLaunchArgument("enable_mock_sensors", default_value="true"),
+    ]
+
+    # ── Mock sensor publisher (always first) ─────────────────────────────────
+    mock_sensors = Node(
+        package="saltybot_social_tests",
+        executable="mock_sensor_pub",
+        name="mock_sensor_pub",
+        output="screen",
+        condition=IfCondition(LaunchConfiguration("enable_mock_sensors")),
+    )
+
+    # ── Orchestrator (t=0s) ──────────────────────────────────────────────────
+    orchestrator = Node(
+        package="saltybot_social",
+        executable="orchestrator_node",
+        name="orchestrator_node",
+        parameters=[
+            os.path.join(social_pkg, "config", "orchestrator_params.yaml"),
+            {"watchdog_timeout_s": 60.0,   # more lenient in CI
+             "gpu_mem_throttle_mb": 500.0}, # low floor for CI without GPU
+        ],
+        condition=IfCondition(LaunchConfiguration("enable_orchestrator")),
+        output="screen",
+    )
+
+    # ── Face recognition (t=1s) ──────────────────────────────────────────────
+    face = TimerAction(period=1.0, actions=[
+        GroupAction(
+            condition=IfCondition(LaunchConfiguration("enable_face")),
+            actions=[
+                LogInfo(msg="[social_test] Starting face recognition..."),
+                Node(
+                    package="saltybot_social_face",
+                    executable="face_recognition",
+                    name="face_recognition_node",
+                    parameters=[{"use_trt": False,       # CPU ONNX in CI
+                                 "detection_threshold": 0.5,
+                                 "gallery_path": "/tmp/social_test_gallery"}],
+                    output="screen",
+                ),
+            ]
+        )
+    ])
+
+    # ── Tracking fusion (t=1s) ───────────────────────────────────────────────
+    tracking = TimerAction(period=1.0, actions=[
+        GroupAction(
+            condition=IfCondition(LaunchConfiguration("enable_tracking")),
+            actions=[
+                Node(
+                    package="saltybot_social_tracking",
+                    executable="tracking_fusion_node",
+                    name="tracking_fusion_node",
+                    output="screen",
+                ),
+            ]
+        )
+    ])
+
+    # ── Speech pipeline (t=2s, optional) ────────────────────────────────────
+    speech = TimerAction(period=2.0, actions=[
+        GroupAction(
+            condition=IfCondition(LaunchConfiguration("enable_speech")),
+            actions=[
+                LogInfo(msg="[social_test] Starting speech pipeline..."),
+                Node(
+                    package="saltybot_social",
+                    executable="speech_pipeline_node",
+                    name="speech_pipeline_node",
+                    parameters=[
+                        os.path.join(social_pkg, "config", "speech_params.yaml"),
+                        {"whisper_model": "tiny",   # faster in CI
+                         "use_silero_vad": False},  # avoid download in CI
+                    ],
+                    output="screen",
+                ),
+            ]
+        )
+    ])
+
+    # ── LLM + TTS (t=3s, optional) ──────────────────────────────────────────
+    llm = TimerAction(period=3.0, actions=[
+        GroupAction(
+            condition=IfCondition(LaunchConfiguration("enable_llm")),
+            actions=[
+                Node(
+                    package="saltybot_social",
+                    executable="conversation_node",
+                    name="conversation_node",
+                    parameters=[
+                        os.path.join(social_pkg, "config", "conversation_params.yaml"),
+                    ],
+                    output="screen",
+                ),
+            ]
+        )
+    ])
+
+    tts = TimerAction(period=3.0, actions=[
+        GroupAction(
+            condition=IfCondition(LaunchConfiguration("enable_tts")),
+            actions=[
+                Node(
+                    package="saltybot_social",
+                    executable="tts_node",
+                    name="tts_node",
+                    parameters=[
+                        os.path.join(social_pkg, "config", "tts_params.yaml"),
+                        {"playback_enabled": False},  # no speaker in CI
+                    ],
+                    output="screen",
+                ),
+            ]
+        )
+    ])
+
+    # ── Social nav (t=2s) ────────────────────────────────────────────────────
+    nav = TimerAction(period=2.0, actions=[
+        GroupAction(
+            condition=IfCondition(LaunchConfiguration("enable_nav")),
+            actions=[
+                Node(
+                    package="saltybot_social_nav",
+                    executable="social_nav",
+                    name="social_nav_node",
+                    parameters=[{"use_midas_depth": False}],  # no GPU depth in CI
+                    output="screen",
+                ),
+            ]
+        )
+    ])
+
+    return LaunchDescription(args + [
+        mock_sensors, orchestrator,
+        face, tracking, speech, llm, tts, nav,
+    ])

jetson/ros2_ws/src/saltybot_social_tests/package.xml

@@ -0,0 +1,43 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>saltybot_social_tests</name>
+  <version>0.1.0</version>
+  <description>
+    Integration test suite for the social-bot pipeline (Issue #108).
+    Tests: launch verification, topic rates, services, GPU memory budget,
+    end-to-end latency profiling, graceful shutdown.
+    CI-compatible via Docker + mock sensor publishers.
+  </description>
+  <maintainer email="seb@vayrette.com">sl-jetson</maintainer>
+  <license>MIT</license>
+
+  <!-- Runtime deps for test nodes -->
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+
+  <!-- Social-bot packages under test -->
+  <depend>saltybot_social</depend>
+  <depend>saltybot_social_msgs</depend>
+  <depend>saltybot_social_face</depend>
+  <depend>saltybot_social_nav</depend>
+  <depend>saltybot_social_enrollment</depend>
+  <depend>saltybot_social_tracking</depend>
+  <depend>saltybot_social_personality</depend>
+
+  <!-- Test framework -->
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+  <test_depend>launch_testing</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_testing_ros</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

jetson/ros2_ws/src/saltybot_social_tests/pytest.ini

@@ -0,0 +1,27 @@
+[pytest]
+# social-bot integration test configuration
+
+# Markers registered here to silence PytestUnknownMarkWarning
+markers =
+    gpu_required: test requires an NVIDIA GPU
+    full_stack: test requires SOCIAL_TEST_FULL=1
+    stack_running: test requires SOCIAL_STACK_RUNNING=1
+    slow: test takes more than 30 seconds
+    launch_test: launch_testing integration test
+
+# Default test timeout (seconds) — individual tests can override
+timeout = 120
+
+# Show locals on failure for easier debugging
+showlocals = false
+
+# Brief summary: failed (f) + errors (e) + skipped (s) + passed (p)
+addopts = -ra --tb=short
+
+# Test paths
+testpaths = test
+
+# Filters
+filterwarnings =
+    ignore::DeprecationWarning:launch_testing
+    ignore::UserWarning:rclpy

jetson/ros2_ws/src/saltybot_social_tests/saltybot_social_tests/__init__.py

@@ -0,0 +1 @@
+# saltybot_social_tests — integration test harness for social-bot pipeline

jetson/ros2_ws/src/saltybot_social_tests/saltybot_social_tests/mock_sensors.py

@@ -0,0 +1,228 @@
+"""mock_sensors.py — Mock sensor publishers for CI integration tests.
+
+Publishes minimal valid data on all topics that social-bot nodes subscribe to,
+so the pipeline can start and produce output without real hardware.
+
+Topics published:
+  /camera/color/image_raw          — blank 640×480 RGB8 image at 15Hz
+  /social/speech/transcript        — canned SpeechTranscript at 0.5Hz
+  /social/faces/detections         — empty FaceDetectionArray at 15Hz
+  /social/tracking/fused_target    — synthetic FusedTarget at 10Hz
+  /social/persons                  — single synthetic PersonStateArray at 5Hz
+  /uwb/target                      — synthetic PoseStamped at 10Hz
+
+Usage (standalone):
+  ros2 run saltybot_social_tests mock_sensor_pub
+
+Usage (programmatic):
+  from saltybot_social_tests.mock_sensors import MockSensorPublisher
+  pub = MockSensorPublisher(node)
+  pub.start()
+  ...
+  pub.stop()
+"""
+
+from __future__ import annotations
+
+import threading
+import time
+import struct
+from typing import Optional
+
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSDurabilityPolicy
+
+from std_msgs.msg import Header, String
+from sensor_msgs.msg import Image
+from geometry_msgs.msg import PoseStamped, Point, Quaternion, Vector3
+
+
+# ── Helpers ───────────────────────────────────────────────────────────────────
+
+def _now_header(node: Node, frame_id: str = "camera_color_optical_frame") -> Header:
+    h = Header()
+    h.stamp = node.get_clock().now().to_msg()
+    h.frame_id = frame_id
+    return h
+
+
+def _blank_rgb_image(node: Node, width: int = 640, height: int = 480) -> Image:
+    img = Image()
+    img.header = _now_header(node)
+    img.width = width
+    img.height = height
+    img.encoding = "rgb8"
+    img.step = width * 3
+    img.data = bytes(width * height * 3)  # all-black frame
+    return img
+
+
+# ── Mock publisher class ──────────────────────────────────────────────────────
+
+class MockSensorPublisher:
+    """Publishes mock sensor data for all social-bot pipeline inputs."""
+
+    def __init__(self, node: Node) -> None:
+        self._node = node
+        self._running = False
+        self._threads: list = []
+
+        be_qos = QoSProfile(
+            reliability=QoSReliabilityPolicy.BEST_EFFORT, depth=5
+        )
+        rel_qos = QoSProfile(
+            reliability=QoSReliabilityPolicy.RELIABLE, depth=10
+        )
+
+        # Camera image (required by face detection + segmentation)
+        self._img_pub = node.create_publisher(Image, "/camera/color/image_raw", be_qos)
+
+        # Fused tracking target (required by social_nav, person_follower)
+        try:
+            from saltybot_social_msgs.msg import FusedTarget, FaceDetectionArray, PersonStateArray
+            self._fused_pub = node.create_publisher(
+                FusedTarget, "/social/tracking/fused_target", rel_qos
+            )
+            self._faces_pub = node.create_publisher(
+                FaceDetectionArray, "/social/faces/detections", be_qos
+            )
+            self._persons_pub = node.create_publisher(
+                PersonStateArray, "/social/persons", rel_qos
+            )
+            self._has_social_msgs = True
+        except ImportError:
+            self._has_social_msgs = False
+            node.get_logger().warn("saltybot_social_msgs not found — limited mock data")
+
+        try:
+            from saltybot_social_msgs.msg import SpeechTranscript
+            self._transcript_pub = node.create_publisher(
+                SpeechTranscript, "/social/speech/transcript", rel_qos
+            )
+            self._has_speech_msgs = True
+        except ImportError:
+            self._has_speech_msgs = False
+
+        # UWB target (required by person_follower fusion)
+        self._uwb_pub = node.create_publisher(PoseStamped, "/uwb/target", rel_qos)
+
+        self._canned_phrases = [
+            "Hello Salty, how are you?",
+            "What time is it?",
+            "Follow me please.",
+            "Tell me a joke.",
+        ]
+        self._phrase_idx = 0
+
+    def start(self) -> None:
+        """Start all mock publisher threads."""
+        self._running = True
+        specs = [
+            ("camera",    self._pub_camera,    1.0 / 15.0),
+            ("faces",     self._pub_faces,      1.0 / 15.0),
+            ("fused",     self._pub_fused,      1.0 / 10.0),
+            ("persons",   self._pub_persons,    1.0 / 5.0),
+            ("uwb",       self._pub_uwb,        1.0 / 10.0),
+            ("transcript",self._pub_transcript, 2.0),
+        ]
+        for name, fn, interval in specs:
+            t = threading.Thread(
+                target=self._loop, args=(fn, interval),
+                name=f"mock_{name}", daemon=True
+            )
+            t.start()
+            self._threads.append(t)
+
+    def stop(self) -> None:
+        self._running = False
+
+    def _loop(self, publish_fn, interval_s: float) -> None:
+        while self._running:
+            try:
+                publish_fn()
+            except Exception:
+                pass
+            time.sleep(interval_s)
+
+    def _pub_camera(self) -> None:
+        self._img_pub.publish(_blank_rgb_image(self._node))
+
+    def _pub_faces(self) -> None:
+        if not self._has_social_msgs:
+            return
+        from saltybot_social_msgs.msg import FaceDetectionArray
+        msg = FaceDetectionArray()
+        msg.header = _now_header(self._node)
+        # Empty array — camera is "working" but no face in frame
+        self._faces_pub.publish(msg)
+
+    def _pub_fused(self) -> None:
+        if not self._has_social_msgs:
+            return
+        from saltybot_social_msgs.msg import FusedTarget
+        msg = FusedTarget()
+        msg.header = _now_header(self._node, "base_link")
+        msg.position.x = 1.5   # 1.5m ahead
+        msg.position.y = 0.0
+        msg.velocity.x = 0.0
+        msg.track_id = 1
+        msg.confidence = 0.85
+        self._fused_pub.publish(msg)
+
+    def _pub_persons(self) -> None:
+        if not self._has_social_msgs:
+            return
+        from saltybot_social_msgs.msg import PersonStateArray, PersonState
+        msg = PersonStateArray()
+        msg.header = _now_header(self._node, "base_link")
+        p = PersonState()
+        p.header = msg.header
+        p.person_id = 1
+        p.person_name = "TestPerson"
+        p.state = PersonState.STATE_ENGAGED
+        p.distance = 1.5
+        p.bearing_deg = 0.0
+        p.engagement_score = 0.8
+        msg.persons = [p]
+        self._persons_pub.publish(msg)
+
+    def _pub_uwb(self) -> None:
+        msg = PoseStamped()
+        msg.header = _now_header(self._node, "base_link")
+        msg.pose.position.x = 1.5
+        msg.pose.position.y = 0.1
+        msg.pose.orientation.w = 1.0
+        self._uwb_pub.publish(msg)
+
+    def _pub_transcript(self) -> None:
+        if not self._has_speech_msgs:
+            return
+        from saltybot_social_msgs.msg import SpeechTranscript
+        msg = SpeechTranscript()
+        msg.header = _now_header(self._node)
+        msg.text = self._canned_phrases[self._phrase_idx % len(self._canned_phrases)]
+        msg.speaker_id = "test_person"
+        msg.confidence = 0.95
+        msg.audio_duration = 1.2
+        msg.is_partial = False
+        self._transcript_pub.publish(msg)
+        self._phrase_idx += 1
+
+
+# ── Standalone entry point ────────────────────────────────────────────────────
+
+def main(args=None) -> None:
+    rclpy.init(args=args)
+    node = rclpy.create_node("mock_sensor_pub")
+    pub = MockSensorPublisher(node)
+    pub.start()
+    node.get_logger().info("Mock sensor publisher running — Ctrl+C to stop")
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        pub.stop()
+        node.destroy_node()
+        rclpy.shutdown()

jetson/ros2_ws/src/saltybot_social_tests/saltybot_social_tests/test_helpers.py

@@ -0,0 +1,262 @@
+"""test_helpers.py — Shared helpers for social-bot integration tests.
+
+No hardware dependencies. Provides:
+- TopicRateChecker: measure actual publish rate on a topic
+- NodeChecker: verify a named node is alive in the graph
+- ServiceChecker: call a service and verify it responds
+- GpuMemoryChecker: measure GPU allocation via pycuda / nvidia-smi
+- TimeoutPoller: generic poll-until-true with timeout
+"""
+
+from __future__ import annotations
+
+import subprocess
+import threading
+import time
+from typing import Any, Callable, List, Optional
+
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import (
+    QoSProfile, QoSReliabilityPolicy, QoSDurabilityPolicy, QoSHistoryPolicy
+)
+
+
+# ── Timeout poller ────────────────────────────────────────────────────────────
+
+def poll_until(
+    condition: Callable[[], bool],
+    timeout_s: float = 30.0,
+    interval_s: float = 0.5,
+) -> bool:
+    """Return True if condition() becomes True within timeout_s, else False."""
+    deadline = time.time() + timeout_s
+    while time.time() < deadline:
+        if condition():
+            return True
+        time.sleep(interval_s)
+    return False
+
+
+# ── Node checker ──────────────────────────────────────────────────────────────
+
+class NodeChecker:
+    """Check whether ROS2 nodes are alive in the graph."""
+
+    def __init__(self, probe_node: Node) -> None:
+        self._node = probe_node
+
+    def is_alive(self, node_name: str, namespace: str = "/") -> bool:
+        """Return True if node_name is present in the node graph."""
+        names_and_ns = self._node.get_node_names_and_namespaces()
+        for name, ns in names_and_ns:
+            if name == node_name:
+                return True
+            if ns.rstrip("/") + "/" + name == node_name:
+                return True
+        return False
+
+    def wait_for_nodes(
+        self,
+        node_names: List[str],
+        timeout_s: float = 30.0,
+    ) -> dict:
+        """Block until all nodes appear or timeout. Returns {name: found}."""
+        results = {n: False for n in node_names}
+        deadline = time.time() + timeout_s
+        while time.time() < deadline:
+            for name in node_names:
+                if not results[name]:
+                    results[name] = self.is_alive(name)
+            if all(results.values()):
+                break
+            time.sleep(0.5)
+        return results
+
+
+# ── Topic rate checker ─────────────────────────────────────────────────────────
+
+class TopicRateChecker:
+    """Measure the actual publish rate on a topic over a measurement window.
+
+    Usage:
+        checker = TopicRateChecker(node, "/social/faces/detections",
+                                   FaceDetectionArray, window_s=3.0)
+        checker.start()
+        time.sleep(5.0)
+        hz = checker.measured_hz()
+        checker.stop()
+    """
+
+    def __init__(
+        self,
+        node: Node,
+        topic: str,
+        msg_type: Any,
+        window_s: float = 3.0,
+        qos: Optional[QoSProfile] = None,
+    ) -> None:
+        self._window_s = window_s
+        self._timestamps: List[float] = []
+        self._lock = threading.Lock()
+        self._running = False
+
+        if qos is None:
+            qos = QoSProfile(
+                reliability=QoSReliabilityPolicy.BEST_EFFORT,
+                durability=QoSDurabilityPolicy.VOLATILE,
+                history=QoSHistoryPolicy.KEEP_LAST,
+                depth=10,
+            )
+
+        self._sub = node.create_subscription(
+            msg_type, topic, self._cb, qos
+        )
+
+    def _cb(self, _msg: Any) -> None:
+        now = time.time()
+        with self._lock:
+            self._timestamps.append(now)
+            # Prune old samples outside window
+            cutoff = now - self._window_s * 2
+            self._timestamps = [t for t in self._timestamps if t > cutoff]
+
+    def measured_hz(self) -> float:
+        """Return Hz measured over the last window_s seconds."""
+        now = time.time()
+        cutoff = now - self._window_s
+        with self._lock:
+            recent = [t for t in self._timestamps if t > cutoff]
+        if len(recent) < 2:
+            return 0.0
+        return (len(recent) - 1) / (recent[-1] - recent[0])
+
+    def message_count(self) -> int:
+        """Total messages received."""
+        with self._lock:
+            return len(self._timestamps)
+
+    def received_any(self) -> bool:
+        with self._lock:
+            return len(self._timestamps) > 0
+
+
+# ── Service checker ────────────────────────────────────────────────────────────
+
+class ServiceChecker:
+    """Verify a ROS2 service is available and call it."""
+
+    def __init__(self, node: Node) -> None:
+        self._node = node
+
+    def is_available(self, service_name: str, srv_type: Any,
+                     timeout_s: float = 5.0) -> bool:
+        """Return True if the service becomes available within timeout_s."""
+        client = self._node.create_client(srv_type, service_name)
+        available = client.wait_for_service(timeout_sec=timeout_s)
+        self._node.destroy_client(client)
+        return available
+
+    def call_service(
+        self,
+        service_name: str,
+        srv_type: Any,
+        request: Any,
+        timeout_s: float = 10.0,
+    ) -> Optional[Any]:
+        """Call a service and return the response, or None on failure."""
+        import rclpy.executors
+        client = self._node.create_client(srv_type, service_name)
+        if not client.wait_for_service(timeout_sec=timeout_s):
+            self._node.destroy_client(client)
+            return None
+        future = client.call_async(request)
+        # Spin until done
+        deadline = time.time() + timeout_s
+        while not future.done() and time.time() < deadline:
+            rclpy.spin_once(self._node, timeout_sec=0.1)
+        self._node.destroy_client(client)
+        if future.done():
+            return future.result()
+        return None
+
+
+# ── GPU memory checker ────────────────────────────────────────────────────────
+
+class GpuMemoryChecker:
+    """Query GPU memory usage. Gracefully no-ops if no GPU available."""
+
+    @staticmethod
+    def total_mb() -> Optional[float]:
+        """Total GPU memory in MB."""
+        return GpuMemoryChecker._query("memory.total")
+
+    @staticmethod
+    def free_mb() -> Optional[float]:
+        """Free GPU memory in MB."""
+        return GpuMemoryChecker._query("memory.free")
+
+    @staticmethod
+    def used_mb() -> Optional[float]:
+        """Used GPU memory in MB."""
+        return GpuMemoryChecker._query("memory.used")
+
+    @staticmethod
+    def _query(field: str) -> Optional[float]:
+        try:
+            out = subprocess.check_output(
+                ["nvidia-smi", f"--query-gpu={field}",
+                 "--format=csv,noheader,nounits"],
+                timeout=5,
+            ).decode().strip()
+            return float(out.split("\n")[0].strip())
+        except Exception:
+            pass
+        # Fallback: pycuda
+        try:
+            import pycuda.driver as drv
+            drv.init()
+            ctx = drv.Device(0).make_context()
+            free_b, total_b = drv.mem_get_info()
+            ctx.pop()
+            if field == "memory.free":
+                return free_b / 1024 / 1024
+            elif field == "memory.total":
+                return total_b / 1024 / 1024
+            elif field == "memory.used":
+                return (total_b - free_b) / 1024 / 1024
+        except Exception:
+            pass
+        return None
+
+    @staticmethod
+    def gpu_available() -> bool:
+        return GpuMemoryChecker.total_mb() is not None
+
+
+# ── Process helpers ───────────────────────────────────────────────────────────
+
+def count_zombie_processes(pattern: str = "ros") -> int:
+    """Count zombie processes matching pattern via ps."""
+    try:
+        out = subprocess.check_output(
+            ["ps", "aux"], timeout=5
+        ).decode()
+        count = 0
+        for line in out.splitlines():
+            if "<defunct>" in line and pattern in line:
+                count += 1
+        return count
+    except Exception:
+        return 0
+
+
+def get_process_pids(name_pattern: str) -> List[int]:
+    """Return PIDs of processes matching name_pattern."""
+    try:
+        out = subprocess.check_output(
+            ["pgrep", "-f", name_pattern], timeout=5
+        ).decode().strip()
+        return [int(p) for p in out.splitlines() if p.strip()]
+    except Exception:
+        return []

jetson/ros2_ws/src/saltybot_social_tests/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/saltybot_social_tests
+[install]
+install_scripts=$base/lib/saltybot_social_tests

jetson/ros2_ws/src/saltybot_social_tests/setup.py

@@ -0,0 +1,30 @@
+from setuptools import find_packages, setup
+import os
+from glob import glob
+
+package_name = 'saltybot_social_tests'
+
+setup(
+    name=package_name,
+    version='0.1.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'),
+            glob(os.path.join('launch', '*launch.[pxy][yma]*'))),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='sl-jetson',
+    maintainer_email='seb@vayrette.com',
+    description='Integration test suite for social-bot pipeline (Issue #108)',
+    license='MIT',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'mock_sensor_pub = saltybot_social_tests.mock_sensors:main',
+        ],
+    },
+)

jetson/ros2_ws/src/saltybot_social_tests/test/conftest.py

@@ -0,0 +1,113 @@
+"""conftest.py — pytest configuration and shared fixtures for social-bot tests.
+
+Custom markers:
+  @pytest.mark.gpu_required     — skip if no GPU / nvidia-smi
+  @pytest.mark.full_stack       — skip unless SOCIAL_TEST_FULL=1
+  @pytest.mark.stack_running    — skip unless SOCIAL_STACK_RUNNING=1
+  @pytest.mark.slow             — long tests (>30s); skipped in fast mode
+  @pytest.mark.launch_test      — launch_testing marker (framework)
+
+Fixtures:
+  rclpy_node       — temporary rclpy probe node (auto-shutdown)
+  ros_domain_id    — asserts ROS_DOMAIN_ID=108 for test isolation
+"""
+
+from __future__ import annotations
+
+import os
+import subprocess
+import sys
+import time
+
+import pytest
+
+# ── Custom markers ────────────────────────────────────────────────────────────
+
+
+def pytest_configure(config):
+    config.addinivalue_line("markers",
+        "gpu_required: test requires an NVIDIA GPU (skipped in headless CI)")
+    config.addinivalue_line("markers",
+        "full_stack: test requires SOCIAL_TEST_FULL=1 (full speech/LLM/TTS)")
+    config.addinivalue_line("markers",
+        "stack_running: test requires SOCIAL_STACK_RUNNING=1")
+    config.addinivalue_line("markers",
+        "slow: test takes more than 30 seconds")
+    config.addinivalue_line("markers",
+        "launch_test: launch_testing integration test")
+
+
+def pytest_collection_modifyitems(config, items):
+    """Automatically skip tests whose markers are not satisfied."""
+    full_stack = os.environ.get("SOCIAL_TEST_FULL", "0") == "1"
+    stack_running = os.environ.get("SOCIAL_STACK_RUNNING", "0") == "1"
+    fast_mode = os.environ.get("CI_FAST", "0") == "1"
+
+    gpu_ok = _nvidia_smi_available()
+
+    for item in items:
+        if item.get_closest_marker("gpu_required") and not gpu_ok:
+            item.add_marker(pytest.mark.skip(
+                reason="No GPU available (set SOCIAL_STACK_RUNNING=1 on hardware)"
+            ))
+        if item.get_closest_marker("full_stack") and not full_stack:
+            item.add_marker(pytest.mark.skip(
+                reason="Set SOCIAL_TEST_FULL=1 to enable full-stack tests"
+            ))
+        if item.get_closest_marker("stack_running") and not stack_running:
+            item.add_marker(pytest.mark.skip(
+                reason="Set SOCIAL_STACK_RUNNING=1 to enable stack-running tests"
+            ))
+        if item.get_closest_marker("slow") and fast_mode:
+            item.add_marker(pytest.mark.skip(
+                reason="Slow test skipped in CI_FAST=1 mode"
+            ))
+
+
+# ── Helpers ───────────────────────────────────────────────────────────────────
+
+def _nvidia_smi_available() -> bool:
+    try:
+        subprocess.check_output(
+            ["nvidia-smi", "--query-gpu=name", "--format=csv,noheader"],
+            timeout=5, stderr=subprocess.DEVNULL,
+        )
+        return True
+    except Exception:
+        return False
+
+
+# ── Fixtures ──────────────────────────────────────────────────────────────────
+
+@pytest.fixture(scope="session")
+def ros_domain_id():
+    """Assert ROS_DOMAIN_ID is set to 108 for test isolation."""
+    domain = os.environ.get("ROS_DOMAIN_ID", "0")
+    assert domain == "108", (
+        f"ROS_DOMAIN_ID must be '108' for isolated test runs (got '{domain}'). "
+        "Set: export ROS_DOMAIN_ID=108"
+    )
+    return int(domain)
+
+
+@pytest.fixture(scope="function")
+def rclpy_node(request):
+    """Provide a temporary rclpy probe node; auto-teardown after each test."""
+    import rclpy
+    if not rclpy.ok():
+        rclpy.init()
+    node_name = f"test_probe_{request.node.name[:20].replace('/', '_')}"
+    node = rclpy.create_node(node_name)
+    yield node
+    node.destroy_node()
+
+
+@pytest.fixture(scope="session", autouse=True)
+def rclpy_session():
+    """Init/shutdown rclpy once for the entire test session."""
+    import rclpy
+    if not rclpy.ok():
+        rclpy.init()
+    yield
+    if rclpy.ok():
+        rclpy.shutdown()

jetson/ros2_ws/src/saltybot_social_tests/test/test_gpu_memory.py

@@ -0,0 +1,197 @@
+"""test_gpu_memory.py — GPU memory budget tests for social-bot stack.
+
+Requirements (Orin Nano Super 8GB shared memory):
+  - Full stack allocation must stay under 6GB total GPU usage
+  - Each major model budget:
+    Face detection (SCRFD-10GF TRT):     < 100 MB
+    Face recognition (ArcFace TRT):      < 300 MB
+    Speaker embedding (ECAPA-TDNN TRT):  < 200 MB
+    Whisper STT (CTranslate2):           < 700 MB
+    LLM (Phi-3-mini Q4 GGUF, 20 layers): < 2500 MB
+    Piper TTS (ONNX CPU):                < 200 MB
+    Tracking (Kalman, CPU):              < 10 MB
+  ─────────────────────────────────────────────────
+  Total budget:                          < 6000 MB  (6 GB)
+  Reserve for OS + ROS2:                  2000 MB  (2 GB)
+
+Tests:
+  1. GPU available check (skip gracefully in CI without GPU)
+  2. Used memory at baseline (before stack loads) < 1GB
+  3. Used memory during full stack < 6GB
+  4. Memory does not grow continuously (no leak over 30s)
+  5. After shutdown, memory returns to near-baseline
+"""
+
+from __future__ import annotations
+
+import os
+import sys
+import time
+import unittest
+
+import pytest
+
+sys.path.insert(0, os.path.dirname(os.path.dirname(__file__)))
+from saltybot_social_tests.test_helpers import GpuMemoryChecker
+
+# ── Budget constants ──────────────────────────────────────────────────────────
+GPU_TOTAL_MB_EXPECTED = 8192.0    # Orin Nano Super 8GB
+GPU_STACK_BUDGET_MB   = 6000.0    # full stack must stay under 6GB used
+GPU_BASELINE_MB       = 1024.0    # baseline (OS + CUDA context) < 1GB
+GPU_LEAK_TOLERANCE_MB =  200.0    # acceptable growth over 30s measurement window
+
+# Per-model expected budgets (for documentation / CI without full stack)
+MODEL_BUDGETS_MB = {
+    "scrfd_10g_trt":   100,
+    "arcface_r100_trt": 300,
+    "ecapa_tdnn_trt":  200,
+    "whisper_small":   700,
+    "phi3_mini_gguf": 2500,
+    "piper_tts":       200,
+    "tracking":         10,
+}
+TOTAL_MODEL_BUDGET_MB = sum(MODEL_BUDGETS_MB.values())  # 4010 MB
+
+
+def _skip_if_no_gpu():
+    if not GpuMemoryChecker.gpu_available():
+        pytest.skip("No GPU available — skipping GPU memory tests")
+
+
+class TestGpuMemoryBudget(unittest.TestCase):
+    """GPU memory budget tests for the full social-bot stack."""
+
+    def test_gpu_is_available_or_ci(self):
+        """GPU check: either GPU is available, or we're in CI (skip gracefully)."""
+        if os.environ.get("CI", ""):
+            # In CI without GPU, just log and pass
+            print("[INFO] CI mode detected — GPU memory tests will be skipped if no GPU")
+        available = GpuMemoryChecker.gpu_available()
+        if not available:
+            self.skipTest("No GPU available")
+        total = GpuMemoryChecker.total_mb()
+        self.assertIsNotNone(total)
+        print(f"[INFO] GPU total: {total:.0f} MB")
+
+    def test_gpu_total_memory_matches_orin(self):
+        """Total GPU memory should be ~8GB on Orin Nano Super."""
+        _skip_if_no_gpu()
+        total = GpuMemoryChecker.total_mb()
+        # Allow ±10% from 8192MB (shared memory varies by config)
+        self.assertGreater(total, GPU_TOTAL_MB_EXPECTED * 0.5,
+                           f"GPU total {total:.0f}MB seems too low for Orin")
+
+    def test_baseline_memory_under_threshold(self):
+        """Baseline GPU usage (before models load) must be < 1GB."""
+        _skip_if_no_gpu()
+        used = GpuMemoryChecker.used_mb()
+        self.assertIsNotNone(used)
+        print(f"[INFO] Baseline GPU used: {used:.0f} MB")
+        # Note: if running after stack is up, this test would need stack to be down
+        # In standalone mode (no stack running), assert low baseline
+        if os.environ.get("SOCIAL_STACK_RUNNING", "0") == "0":
+            self.assertLess(
+                used, GPU_BASELINE_MB,
+                f"Baseline GPU usage {used:.0f}MB >= {GPU_BASELINE_MB}MB"
+            )
+
+    def test_full_stack_memory_under_budget(self):
+        """Full stack GPU usage must stay under 6GB."""
+        _skip_if_no_gpu()
+        if os.environ.get("SOCIAL_STACK_RUNNING", "0") != "1":
+            self.skipTest("Set SOCIAL_STACK_RUNNING=1 to run with stack active")
+
+        used = GpuMemoryChecker.used_mb()
+        self.assertIsNotNone(used)
+        print(f"[INFO] Stack GPU used: {used:.0f} MB / {GPU_STACK_BUDGET_MB:.0f} MB budget")
+        self.assertLess(
+            used, GPU_STACK_BUDGET_MB,
+            f"GPU usage {used:.0f}MB exceeds {GPU_STACK_BUDGET_MB:.0f}MB budget"
+        )
+
+    def test_no_memory_leak_over_30s(self):
+        """GPU memory must not grow by more than 200MB over 30 seconds."""
+        _skip_if_no_gpu()
+        if os.environ.get("SOCIAL_STACK_RUNNING", "0") != "1":
+            self.skipTest("Set SOCIAL_STACK_RUNNING=1 to run with stack active")
+
+        used_start = GpuMemoryChecker.used_mb()
+        print(f"[INFO] GPU used at start: {used_start:.0f} MB")
+
+        # Wait 30s while stack processes mock sensor data
+        time.sleep(30.0)
+
+        used_end = GpuMemoryChecker.used_mb()
+        growth = used_end - used_start
+        print(f"[INFO] GPU used after 30s: {used_end:.0f} MB (growth: {growth:+.0f} MB)")
+
+        self.assertLess(
+            growth, GPU_LEAK_TOLERANCE_MB,
+            f"GPU memory grew by {growth:.0f}MB over 30s — possible leak"
+        )
+
+    def test_memory_frees_after_context_release(self):
+        """Test that pycuda context releases memory properly."""
+        _skip_if_no_gpu()
+        try:
+            import pycuda.driver as drv
+            drv.init()
+
+            ctx = drv.Device(0).make_context()
+            free_in, total_in = drv.mem_get_info()
+
+            # Allocate 100MB
+            alloc = drv.mem_alloc(100 * 1024 * 1024)
+            free_after_alloc, _ = drv.mem_get_info()
+            growth = (free_in - free_after_alloc) / 1024 / 1024
+            self.assertGreater(growth, 50,
+                               "100MB allocation didn't register in GPU memory")
+
+            # Free it
+            del alloc
+            free_after_free, _ = drv.mem_get_info()
+            recovered = (free_after_free - free_after_alloc) / 1024 / 1024
+            ctx.pop()
+
+            self.assertGreater(recovered, 50,
+                               f"Only {recovered:.0f}MB recovered after freeing 100MB alloc")
+        except ImportError:
+            self.skipTest("pycuda not available")
+
+
+class TestModelBudgetDocumentation(unittest.TestCase):
+    """Verify total model budget is within spec (pure math, no GPU needed)."""
+
+    def test_total_model_budget_under_6gb(self):
+        """Sum of all model budgets must be < 6000MB."""
+        total = sum(MODEL_BUDGETS_MB.values())
+        self.assertLess(
+            total, GPU_STACK_BUDGET_MB,
+            f"Model budgets sum to {total}MB, exceeds {GPU_STACK_BUDGET_MB}MB limit"
+        )
+
+    def test_individual_model_budgets_reasonable(self):
+        """No single model should claim more than 3GB."""
+        for model, budget in MODEL_BUDGETS_MB.items():
+            self.assertLess(
+                budget, 3000,
+                f"Model {model} budget {budget}MB seems unreasonably high"
+            )
+
+    def test_budget_includes_all_models(self):
+        """Verify all expected models are accounted for in the budget."""
+        expected_keys = {
+            "scrfd_10g_trt", "arcface_r100_trt", "ecapa_tdnn_trt",
+            "whisper_small", "phi3_mini_gguf", "piper_tts", "tracking"
+        }
+        self.assertEqual(set(MODEL_BUDGETS_MB.keys()), expected_keys)
+
+    def test_budget_summary(self):
+        """Print human-readable budget summary."""
+        print("\n[GPU Budget Summary]")
+        for model, mb in sorted(MODEL_BUDGETS_MB.items(), key=lambda x: -x[1]):
+            bar = "█" * (mb // 100)
+            print(f"  {model:<25} {mb:>5} MB  {bar}")
+        print(f"  {'TOTAL':<25} {TOTAL_MODEL_BUDGET_MB:>5} MB")
+        print(f"  {'LIMIT':<25} {GPU_STACK_BUDGET_MB:>5} MB")
+        print(f"  {'RESERVE':<25} {GPU_STACK_BUDGET_MB - TOTAL_MODEL_BUDGET_MB:>5} MB")

jetson/ros2_ws/src/saltybot_social_tests/test/test_latency.py

@@ -0,0 +1,323 @@
+"""test_latency.py — End-to-end latency profiling for social-bot pipeline.
+
+Pipeline stages and SLAs:
+  Stage                          SLA (p95)   Notes
+  ─────────────────────────────  ─────────   ─────────────────────────────────
+  wake_word → VAD onset          < 100ms     OpenWakeWord inference
+  VAD onset → transcript (STT)   < 500ms     Whisper small, 1s utterance
+  transcript → LLM first token   < 500ms     Phi-3-mini GGUF, TTFT
+  LLM first token → TTS first    < 200ms     Piper synthesis, first sentence
+  ─────────────────────────────────────────────────────────────────────────────
+  Full end-to-end (wake→speaker) < 1200ms    total pipeline SLA
+
+Tests:
+  1. STT latency: inject synthetic transcript, measure to LLM response
+  2. LLM latency: inject transcript, measure time to ConversationResponse
+  3. TTS latency: inject ConversationResponse, verify audio starts quickly
+  4. E2E latency: orchestrator state transitions (LISTENING→THINKING→SPEAKING)
+  5. Percentile report: print p50/p95/p99 for each stage over N runs
+
+In CI (no GPU/models): tests use orchestrator state timestamps to infer latency
+bounds without actually running STT/LLM/TTS.
+"""
+
+from __future__ import annotations
+
+import json
+import os
+import sys
+import time
+import threading
+import unittest
+from collections import defaultdict
+from typing import List, Optional
+
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import QoSProfile
+
+sys.path.insert(0, os.path.dirname(os.path.dirname(__file__)))
+from saltybot_social_tests.test_helpers import poll_until
+
+# ── SLA constants (milliseconds) ─────────────────────────────────────────────
+SLA_STT_P95_MS        =  500.0
+SLA_LLM_TTFT_P95_MS   =  500.0
+SLA_TTS_FIRST_P95_MS  =  200.0
+SLA_E2E_P95_MS        = 1200.0
+
+N_PROBE_RUNS = 5   # number of injection runs for percentile calculation
+
+
+def _percentile(values: List[float], p: float) -> float:
+    if not values:
+        return 0.0
+    s = sorted(values)
+    idx = int(len(s) * p / 100)
+    return s[min(idx, len(s) - 1)]
+
+
+class LatencyProbe(Node):
+    """Injects synthetic messages and measures pipeline response latencies."""
+
+    def __init__(self) -> None:
+        super().__init__("latency_probe")
+        qos = QoSProfile(depth=10)
+
+        # Injectors
+        try:
+            from saltybot_social_msgs.msg import SpeechTranscript, ConversationResponse
+            self._transcript_pub = self.create_publisher(
+                SpeechTranscript, "/social/speech/transcript", qos
+            )
+            self._response_pub = self.create_publisher(
+                ConversationResponse, "/social/conversation/response", qos
+            )
+            self._has_social = True
+        except ImportError:
+            self._has_social = False
+
+        from std_msgs.msg import String
+        self._state_pub = self.create_publisher(String, "/social/test/inject", qos)
+
+        # Receivers
+        from std_msgs.msg import String
+        self._state_sub = self.create_subscription(
+            String, "/social/orchestrator/state",
+            self._on_state, qos
+        )
+
+        if self._has_social:
+            from saltybot_social_msgs.msg import ConversationResponse
+            self._response_sub = self.create_subscription(
+                ConversationResponse, "/social/conversation/response",
+                self._on_response, qos
+            )
+
+        # Timing data
+        self._inject_t: Optional[float] = None
+        self._response_times: List[float] = []
+        self._state_transitions: List[tuple] = []   # (from, to, elapsed_ms)
+        self._last_state: Optional[str] = None
+        self._last_state_t: float = time.time()
+        self._lock = threading.Lock()
+
+    def _on_state(self, msg) -> None:
+        try:
+            data = json.loads(msg.data)
+            new_state = data.get("state", "")
+            now = time.time()
+            with self._lock:
+                if self._last_state and self._last_state != new_state:
+                    elapsed = (now - self._last_state_t) * 1000
+                    self._state_transitions.append(
+                        (self._last_state, new_state, elapsed)
+                    )
+                self._last_state = new_state
+                self._last_state_t = now
+        except Exception:
+            pass
+
+    def _on_response(self, msg) -> None:
+        with self._lock:
+            if self._inject_t is not None:
+                latency_ms = (time.time() - self._inject_t) * 1000
+                self._response_times.append(latency_ms)
+                self._inject_t = None
+
+    def inject_transcript(self, text: str = "Hello Salty, what time is it?") -> None:
+        """Publish a synthetic final transcript to trigger LLM."""
+        if not self._has_social:
+            return
+        from saltybot_social_msgs.msg import SpeechTranscript
+        msg = SpeechTranscript()
+        msg.header.stamp = self.get_clock().now().to_msg()
+        msg.text = text
+        msg.speaker_id = "test_user"
+        msg.confidence = 0.99
+        msg.audio_duration = 1.2
+        msg.is_partial = False
+        with self._lock:
+            self._inject_t = time.time()
+        self._transcript_pub.publish(msg)
+
+    def get_response_latencies(self) -> List[float]:
+        with self._lock:
+            return list(self._response_times)
+
+    def get_state_transitions(self) -> List[tuple]:
+        with self._lock:
+            return list(self._state_transitions)
+
+    def clear(self) -> None:
+        with self._lock:
+            self._response_times.clear()
+            self._state_transitions.clear()
+            self._inject_t = None
+
+
+class TestPipelineLatency(unittest.TestCase):
+    """End-to-end pipeline latency tests."""
+
+    @classmethod
+    def setUpClass(cls):
+        if not rclpy.ok():
+            rclpy.init()
+        cls.probe = LatencyProbe()
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.probe.destroy_node()
+
+    def _spin_for(self, duration_s: float) -> None:
+        deadline = time.time() + duration_s
+        while time.time() < deadline:
+            rclpy.spin_once(self.probe, timeout_sec=0.05)
+
+    def test_orchestrator_state_transitions_logged(self):
+        """Verify orchestrator transitions are captured by the probe."""
+        self.probe.clear()
+        self._spin_for(3.0)   # wait for state messages
+
+        # Inject a transcript to trigger IDLE→LISTENING→THINKING
+        if self.probe._has_social:
+            self.probe.inject_transcript()
+            self._spin_for(5.0)
+
+        transitions = self.probe.get_state_transitions()
+        # If the stack is running with conversation_node, we should see transitions.
+        # In CI without LLM, orchestrator stays IDLE — that's OK.
+        print(f"\n[Latency] State transitions captured: {len(transitions)}")
+        for frm, to, ms in transitions:
+            print(f"  {frm} → {to}: {ms:.0f}ms")
+
+    def test_llm_response_latency_sla(self):
+        """LLM must produce first ConversationResponse within 500ms p95."""
+        if os.environ.get("SOCIAL_TEST_FULL", "0") != "1":
+            self.skipTest("Set SOCIAL_TEST_FULL=1 to test with LLM running")
+        if not self.probe._has_social:
+            self.skipTest("saltybot_social_msgs not available")
+
+        self.probe.clear()
+        latencies = []
+
+        for i in range(N_PROBE_RUNS):
+            self.probe.clear()
+            self.probe.inject_transcript(f"Hello, run number {i}")
+            # Wait up to 5s for response
+            deadline = time.time() + 5.0
+            while time.time() < deadline:
+                rclpy.spin_once(self.probe, timeout_sec=0.05)
+                lats = self.probe.get_response_latencies()
+                if lats:
+                    latencies.extend(lats)
+                    break
+            time.sleep(1.0)  # cooldown between runs
+
+        if not latencies:
+            self.fail("No LLM responses received in any of the test runs")
+
+        p50 = _percentile(latencies, 50)
+        p95 = _percentile(latencies, 95)
+        print(f"\n[Latency] LLM response: n={len(latencies)}, "
+              f"p50={p50:.0f}ms, p95={p95:.0f}ms")
+
+        self.assertLess(
+            p95, SLA_LLM_TTFT_P95_MS,
+            f"LLM p95 latency {p95:.0f}ms exceeds SLA {SLA_LLM_TTFT_P95_MS:.0f}ms"
+        )
+
+    def test_e2e_state_machine_latency(self):
+        """IDLE→THINKING transition must complete within 1200ms p95."""
+        if not self.probe._has_social:
+            self.skipTest("saltybot_social_msgs not available")
+
+        self.probe.clear()
+        thinking_latencies = []
+
+        for _ in range(N_PROBE_RUNS):
+            self.probe.clear()
+
+            # Wait for IDLE state
+            def is_idle():
+                rclpy.spin_once(self.probe, timeout_sec=0.1)
+                return self.probe._last_state == "idle"
+            poll_until(is_idle, timeout_s=5.0)
+
+            # Inject transcript and measure time to THINKING
+            t0 = time.time()
+            self.probe.inject_transcript()
+
+            def is_thinking():
+                rclpy.spin_once(self.probe, timeout_sec=0.1)
+                return self.probe._last_state in ("thinking", "speaking")
+            reached = poll_until(is_thinking, timeout_s=5.0)
+
+            if reached:
+                elapsed_ms = (time.time() - t0) * 1000
+                thinking_latencies.append(elapsed_ms)
+
+            time.sleep(2.0)  # allow pipeline to return to IDLE
+
+        if not thinking_latencies:
+            # In CI without full stack, this is expected
+            print("[Latency] No THINKING transitions — LLM/speech may not be running")
+            return
+
+        p95 = _percentile(thinking_latencies, 95)
+        print(f"\n[Latency] Inject→THINKING: n={len(thinking_latencies)}, "
+              f"p95={p95:.0f}ms")
+
+        self.assertLess(
+            p95, SLA_E2E_P95_MS,
+            f"E2E p95 {p95:.0f}ms exceeds SLA {SLA_E2E_P95_MS:.0f}ms"
+        )
+
+
+class TestLatencyReport(unittest.TestCase):
+    """Generate a latency report from orchestrator state data."""
+
+    @classmethod
+    def setUpClass(cls):
+        if not rclpy.ok():
+            rclpy.init()
+        cls.node = rclpy.create_node("latency_report_probe")
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.node.destroy_node()
+
+    def test_orchestrator_reports_latency_stats(self):
+        """Orchestrator state JSON must include latency field when profiling enabled."""
+        from std_msgs.msg import String
+        received = []
+        qos = QoSProfile(depth=10)
+        sub = self.node.create_subscription(
+            String, "/social/orchestrator/state",
+            lambda msg: received.append(msg.data), qos
+        )
+
+        deadline = time.time() + 5.0
+        while time.time() < deadline and not received:
+            rclpy.spin_once(self.node, timeout_sec=0.1)
+        self.node.destroy_subscription(sub)
+
+        if not received:
+            self.skipTest("Orchestrator not running")
+
+        state = json.loads(received[-1])
+        self.assertIn("latency", state,
+                      "Orchestrator state JSON missing 'latency' field")
+        self.assertIn("ts", state)
+        print(f"\n[Latency] Orchestrator report: {json.dumps(state['latency'], indent=2)}")
+
+    def test_latency_sla_table(self):
+        """Print SLA table for documentation — always passes."""
+        print("\n[Latency SLA Table]")
+        slas = [
+            ("wake_word → transcript (STT)",  SLA_STT_P95_MS),
+            ("transcript → LLM first token",  SLA_LLM_TTFT_P95_MS),
+            ("LLM token → TTS first chunk",   SLA_TTS_FIRST_P95_MS),
+            ("end-to-end (wake → speaker)",   SLA_E2E_P95_MS),
+        ]
+        for stage, sla in slas:
+            print(f"  {stage:<40} p95 < {sla:.0f}ms")

jetson/ros2_ws/src/saltybot_social_tests/test/test_launch.py

@@ -0,0 +1,208 @@
+"""test_launch.py — Launch integration test: verify all social-bot nodes start.
+
+Uses launch_testing framework to:
+  1. Start social_test.launch.py
+  2. Verify all expected nodes appear in the graph within 30s
+  3. Verify no node exits with an error code
+  4. Verify key topics are advertising (even if no messages yet)
+
+Run with:
+  pytest test_launch.py -v
+  ros2 launch launch_testing launch_test.py <path>/test_launch.py
+"""
+
+import os
+import sys
+import time
+import unittest
+
+import launch
+import launch_ros
+import launch_testing
+import launch_testing.actions
+import launch_testing.markers
+import pytest
+import rclpy
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, TimerAction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+
+import sys
+sys.path.insert(0, os.path.dirname(os.path.dirname(__file__)))
+from saltybot_social_tests.test_helpers import NodeChecker, poll_until
+
+
+# ── Nodes that must be alive within 30s in default CI mode ───────────────────
+REQUIRED_NODES = [
+    "orchestrator_node",
+    "face_recognition_node",
+    "tracking_fusion_node",
+    "mock_sensor_pub",
+]
+
+# Nodes only required in full mode (SOCIAL_TEST_FULL=1)
+FULL_MODE_NODES = [
+    "speech_pipeline_node",
+    "conversation_node",
+    "tts_node",
+]
+
+NODE_STARTUP_TIMEOUT_S = 30.0
+
+
+# ── launch_testing fixture ────────────────────────────────────────────────────
+
+@pytest.mark.launch_test
+def generate_test_description():
+    """Return the LaunchDescription to use for the launch test."""
+    tests_pkg = get_package_share_directory("saltybot_social_tests")
+    launch_file = os.path.join(tests_pkg, "launch", "social_test.launch.py")
+
+    return LaunchDescription([
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(launch_file),
+            launch_arguments={
+                "enable_speech": "false",
+                "enable_llm":    "false",
+                "enable_tts":    "false",
+            }.items(),
+        ),
+        # Signal launch_testing that setup is done
+        launch_testing.actions.ReadyToTest(),
+    ])
+
+
+# ── Test cases ────────────────────────────────────────────────────────────────
+
+class TestSocialBotLaunch(unittest.TestCase):
+    """Integration tests that run against the launched social-bot stack."""
+
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+        cls.node = rclpy.create_node("social_launch_test_probe")
+        cls.checker = NodeChecker(cls.node)
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.node.destroy_node()
+        rclpy.shutdown()
+
+    def _spin_briefly(self, duration_s: float = 0.5) -> None:
+        deadline = time.time() + duration_s
+        while time.time() < deadline:
+            rclpy.spin_once(self.node, timeout_sec=0.1)
+
+    # ── Test 1: All required nodes alive within 30s ───────────────────────────
+
+    def test_required_nodes_start(self):
+        """All required nodes must appear in the graph within 30 seconds."""
+        results = self.checker.wait_for_nodes(
+            REQUIRED_NODES, timeout_s=NODE_STARTUP_TIMEOUT_S
+        )
+        missing = [n for n, found in results.items() if not found]
+        self.assertEqual(
+            missing, [],
+            f"Nodes did not start within {NODE_STARTUP_TIMEOUT_S}s: {missing}"
+        )
+
+    # ── Test 2: Expected topics are advertised ────────────────────────────────
+
+    def test_expected_topics_advertised(self):
+        """Key topics must exist in the topic graph."""
+        self._spin_briefly(2.0)
+
+        required_topics = [
+            "/social/orchestrator/state",
+            "/social/faces/detections",
+            "/social/tracking/fused_target",
+            # mock publishers
+            "/camera/color/image_raw",
+            "/uwb/target",
+        ]
+
+        all_topics = {name for name, _ in self.node.get_topic_names_and_types()}
+        missing = [t for t in required_topics if t not in all_topics]
+        self.assertEqual(
+            missing, [],
+            f"Topics not advertised: {missing}\nAll topics: {sorted(all_topics)}"
+        )
+
+    # ── Test 3: Orchestrator publishes state ──────────────────────────────────
+
+    def test_orchestrator_state_publishes(self):
+        """orchestrator_node must publish /social/orchestrator/state within 5s."""
+        from std_msgs.msg import String
+        received = []
+
+        sub = self.node.create_subscription(
+            String, "/social/orchestrator/state",
+            lambda msg: received.append(msg.data), 10
+        )
+        deadline = time.time() + 5.0
+        while time.time() < deadline and not received:
+            rclpy.spin_once(self.node, timeout_sec=0.2)
+
+        self.node.destroy_subscription(sub)
+        self.assertTrue(
+            len(received) > 0,
+            "orchestrator_node did not publish /social/orchestrator/state within 5s"
+        )
+        # Validate JSON structure
+        import json
+        state = json.loads(received[0])
+        self.assertIn("state", state)
+        self.assertIn(state["state"],
+                      ["idle", "listening", "thinking", "speaking", "throttled"])
+
+    # ── Test 4: Face detection topic advertised at correct QoS ───────────────
+
+    def test_face_detection_topic_qos(self):
+        """Face detection topic must exist and accept BEST_EFFORT subscribers."""
+        from rclpy.qos import QoSProfile, QoSReliabilityPolicy
+        from saltybot_social_msgs.msg import FaceDetectionArray
+
+        received = []
+        qos = QoSProfile(reliability=QoSReliabilityPolicy.BEST_EFFORT, depth=10)
+        sub = self.node.create_subscription(
+            FaceDetectionArray, "/social/faces/detections",
+            lambda msg: received.append(True), qos
+        )
+        deadline = time.time() + 5.0
+        while time.time() < deadline and not received:
+            rclpy.spin_once(self.node, timeout_sec=0.2)
+        self.node.destroy_subscription(sub)
+        self.assertTrue(
+            len(received) > 0,
+            "/social/faces/detections received no messages within 5s"
+        )
+
+    # ── Test 5: No node exits with error immediately ──────────────────────────
+
+    def test_no_immediate_node_exits(self):
+        """All required nodes should still be alive after 5s (no instant crash)."""
+        time.sleep(2.0)
+        self._spin_briefly(1.0)
+        results = self.checker.wait_for_nodes(REQUIRED_NODES, timeout_s=2.0)
+        crashed = [n for n, found in results.items() if not found]
+        self.assertEqual(
+            crashed, [],
+            f"Nodes crashed or exited: {crashed}"
+        )
+
+
+# ── Post-shutdown checks (run after the launch is torn down) ──────────────────
+
+@launch_testing.post_shutdown_test()
+class TestSocialBotShutdownBehavior(unittest.TestCase):
+    """Tests that run after the launch has been shut down."""
+
+    def test_processes_exited_cleanly(self, proc_info):
+        """All launched processes must exit with code 0 or SIGTERM (-15)."""
+        # Allow SIGTERM (returncode -15) as a graceful shutdown
+        launch_testing.asserts.assertExitCodes(
+            proc_info,
+            allowable_exit_codes=[0, -15, launch_testing.asserts.EXIT_OK],
+        )

jetson/ros2_ws/src/saltybot_social_tests/test/test_services.py

@@ -0,0 +1,423 @@
+"""test_services.py — Verify social-bot ROS2 services are available and respond.
+
+Services tested:
+  /social/enroll           (saltybot_social_msgs/EnrollPerson)
+  /social/persons/list     (saltybot_social_msgs/ListPersons)
+  /social/persons/delete   (saltybot_social_msgs/DeletePerson)
+  /social/persons/update   (saltybot_social_msgs/UpdatePerson)
+  /social/query_mood       (saltybot_social_msgs/QueryMood)
+  /social/nav/set_mode     (std_srvs/SetString or saltybot_social_msgs/SetNavMode)
+
+Each test:
+  1. Verifies the service is available (wait_for_service <= 10s)
+  2. Calls the service with a valid request
+  3. Asserts response is non-None and contains expected fields
+"""
+
+from __future__ import annotations
+
+import os
+import sys
+import time
+import unittest
+
+import rclpy
+from rclpy.node import Node
+
+sys.path.insert(0, os.path.dirname(os.path.dirname(__file__)))
+from saltybot_social_tests.test_helpers import ServiceChecker
+
+SERVICE_AVAILABILITY_TIMEOUT_S = 10.0
+
+
+class TestSocialServices(unittest.TestCase):
+    """Integration tests for social-bot ROS2 service interface."""
+
+    @classmethod
+    def setUpClass(cls):
+        if not rclpy.ok():
+            rclpy.init()
+        cls.node = rclpy.create_node("service_test_probe")
+        cls.checker = ServiceChecker(cls.node)
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.node.destroy_node()
+
+    # ── Enroll service ─────────────────────────────────────────────────────────
+
+    def test_enroll_service_available(self):
+        """/ social/enroll must be available within 10s."""
+        try:
+            from saltybot_social_msgs.srv import EnrollPerson
+        except ImportError:
+            self.skipTest("saltybot_social_msgs not installed")
+
+        available = self.checker.is_available(
+            "/social/enroll", EnrollPerson,
+            timeout_s=SERVICE_AVAILABILITY_TIMEOUT_S
+        )
+        self.assertTrue(available, "/social/enroll service not available")
+
+    def test_enroll_service_responds(self):
+        """EnrollPerson service must respond with success or graceful failure."""
+        try:
+            from saltybot_social_msgs.srv import EnrollPerson
+        except ImportError:
+            self.skipTest("saltybot_social_msgs not installed")
+
+        req = EnrollPerson.Request()
+        req.name = "TestPerson_CI"
+        req.n_samples = 1        # minimal for CI
+        req.mode = "face"
+
+        response = self.checker.call_service(
+            "/social/enroll", EnrollPerson, req,
+            timeout_s=SERVICE_AVAILABILITY_TIMEOUT_S
+        )
+        self.assertIsNotNone(response, "/social/enroll did not respond")
+        # Response can be success=False (no camera data) — that's fine
+        # We just need a response, not success
+        self.assertTrue(
+            hasattr(response, "success"),
+            "EnrollPerson response missing 'success' field"
+        )
+
+    # ── List persons service ───────────────────────────────────────────────────
+
+    def test_list_persons_service_available(self):
+        """/social/persons/list must be available within 10s."""
+        try:
+            from saltybot_social_msgs.srv import ListPersons
+        except ImportError:
+            self.skipTest("saltybot_social_msgs not installed")
+
+        available = self.checker.is_available(
+            "/social/persons/list", ListPersons,
+            timeout_s=SERVICE_AVAILABILITY_TIMEOUT_S
+        )
+        self.assertTrue(available, "/social/persons/list service not available")
+
+    def test_list_persons_service_responds(self):
+        """/social/persons/list must return a list (possibly empty)."""
+        try:
+            from saltybot_social_msgs.srv import ListPersons
+        except ImportError:
+            self.skipTest("saltybot_social_msgs not installed")
+
+        req = ListPersons.Request()
+        response = self.checker.call_service(
+            "/social/persons/list", ListPersons, req,
+            timeout_s=SERVICE_AVAILABILITY_TIMEOUT_S
+        )
+        self.assertIsNotNone(response, "/social/persons/list did not respond")
+        self.assertTrue(
+            hasattr(response, "persons"),
+            "ListPersons response missing 'persons' field"
+        )
+        self.assertIsInstance(response.persons, list)
+
+    # ── Delete person service ─────────────────────────────────────────────────
+
+    def test_delete_person_service_available(self):
+        """/social/persons/delete must be available."""
+        try:
+            from saltybot_social_msgs.srv import DeletePerson
+        except ImportError:
+            self.skipTest("saltybot_social_msgs not installed")
+
+        available = self.checker.is_available(
+            "/social/persons/delete", DeletePerson,
+            timeout_s=SERVICE_AVAILABILITY_TIMEOUT_S
+        )
+        self.assertTrue(available, "/social/persons/delete not available")
+
+    def test_delete_nonexistent_person_returns_graceful_error(self):
+        """Deleting a non-existent person must not crash — graceful False."""
+        try:
+            from saltybot_social_msgs.srv import DeletePerson
+        except ImportError:
+            self.skipTest("saltybot_social_msgs not installed")
+
+        req = DeletePerson.Request()
+        req.person_id = 99999   # definitely doesn't exist
+
+        response = self.checker.call_service(
+            "/social/persons/delete", DeletePerson, req,
+            timeout_s=SERVICE_AVAILABILITY_TIMEOUT_S
+        )
+        self.assertIsNotNone(response)
+        # Should return success=False, not crash
+        self.assertFalse(
+            response.success,
+            "Deleting non-existent person should return success=False"
+        )
+
+    # ── Update person service ─────────────────────────────────────────────────
+
+    def test_update_person_service_available(self):
+        """/social/persons/update must be available."""
+        try:
+            from saltybot_social_msgs.srv import UpdatePerson
+        except ImportError:
+            self.skipTest("saltybot_social_msgs not installed")
+
+        available = self.checker.is_available(
+            "/social/persons/update", UpdatePerson,
+            timeout_s=SERVICE_AVAILABILITY_TIMEOUT_S
+        )
+        self.assertTrue(available, "/social/persons/update not available")
+
+    # ── Mood query service ────────────────────────────────────────────────────
+
+    def test_query_mood_service_available(self):
+        """/social/query_mood must be available (personality_node)."""
+        try:
+            from saltybot_social_msgs.srv import QueryMood
+        except ImportError:
+            self.skipTest("saltybot_social_msgs not installed")
+
+        available = self.checker.is_available(
+            "/social/query_mood", QueryMood,
+            timeout_s=SERVICE_AVAILABILITY_TIMEOUT_S
+        )
+        self.assertTrue(available, "/social/query_mood not available")
+
+    def test_query_mood_returns_valid_state(self):
+        """QueryMood must return a valid mood with valence in [-1, 1]."""
+        try:
+            from saltybot_social_msgs.srv import QueryMood
+        except ImportError:
+            self.skipTest("saltybot_social_msgs not installed")
+
+        req = QueryMood.Request()
+        response = self.checker.call_service(
+            "/social/query_mood", QueryMood, req,
+            timeout_s=SERVICE_AVAILABILITY_TIMEOUT_S
+        )
+        self.assertIsNotNone(response, "/social/query_mood did not respond")
+        if hasattr(response, "mood"):
+            mood = response.mood
+            if hasattr(mood, "valence"):
+                self.assertGreaterEqual(mood.valence, -1.0)
+                self.assertLessEqual(mood.valence, 1.0)
+
+
+# ── Nav set-mode service ──────────────────────────────────────────────────────
+
+class TestNavSetModeService(unittest.TestCase):
+    """/social/nav/set_mode — change follow mode at runtime."""
+
+    # Valid follow modes understood by social_nav_node
+    VALID_MODES = ["shadow", "lead", "side", "orbit", "loose", "tight", "stop"]
+
+    @classmethod
+    def setUpClass(cls):
+        if not rclpy.ok():
+            rclpy.init()
+        cls.node = rclpy.create_node("nav_set_mode_test_probe")
+        cls.checker = ServiceChecker(cls.node)
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.node.destroy_node()
+
+    def _try_import_set_mode_srv(self):
+        """Return the SetNavMode srv type, falling back to std_srvs."""
+        try:
+            # Custom service (future): saltybot_social_msgs/srv/SetNavMode
+            from saltybot_social_msgs.srv import SetNavMode
+            return SetNavMode, "custom"
+        except ImportError:
+            pass
+        try:
+            # Generic string service fallback (std_srvs doesn't have SetString
+            # in Humble; use rcl_interfaces/srv/SetParameters as canary)
+            from std_srvs.srv import Trigger
+            return Trigger, "trigger"
+        except ImportError:
+            return None, None
+
+    def test_nav_set_mode_service_available(self):
+        """/social/nav/set_mode must be available within 10s."""
+        srv_type, variant = self._try_import_set_mode_srv()
+        if srv_type is None:
+            self.skipTest("No suitable srv type found for /social/nav/set_mode")
+
+        available = self.checker.is_available(
+            "/social/nav/set_mode", srv_type,
+            timeout_s=SERVICE_AVAILABILITY_TIMEOUT_S
+        )
+        self.assertTrue(
+            available,
+            "/social/nav/set_mode service not available within "
+            f"{SERVICE_AVAILABILITY_TIMEOUT_S}s"
+        )
+
+    def test_nav_set_mode_shadow_responds(self):
+        """Setting mode 'shadow' must return a response (not crash)."""
+        srv_type, variant = self._try_import_set_mode_srv()
+        if srv_type is None:
+            self.skipTest("No suitable srv type for /social/nav/set_mode")
+
+        if variant == "custom":
+            req = srv_type.Request()
+            req.mode = "shadow"
+        else:
+            req = srv_type.Request()  # Trigger: no payload
+
+        response = self.checker.call_service(
+            "/social/nav/set_mode", srv_type, req,
+            timeout_s=SERVICE_AVAILABILITY_TIMEOUT_S
+        )
+        self.assertIsNotNone(
+            response, "/social/nav/set_mode did not respond to 'shadow' mode"
+        )
+        if variant == "custom":
+            self.assertTrue(
+                hasattr(response, "success"),
+                "SetNavMode response missing 'success' field"
+            )
+
+    def test_nav_set_mode_invalid_mode_returns_graceful_error(self):
+        """Sending an invalid mode string must not crash the node."""
+        srv_type, variant = self._try_import_set_mode_srv()
+        if srv_type is None or variant != "custom":
+            self.skipTest("Custom SetNavMode srv required for invalid-mode test")
+
+        req = srv_type.Request()
+        req.mode = "teleport_to_moon"   # definitely invalid
+
+        response = self.checker.call_service(
+            "/social/nav/set_mode", srv_type, req,
+            timeout_s=SERVICE_AVAILABILITY_TIMEOUT_S
+        )
+        self.assertIsNotNone(
+            response, "/social/nav/set_mode crashed on invalid mode"
+        )
+        # Must return success=False for unknown mode, not crash
+        self.assertFalse(
+            response.success,
+            "Invalid mode 'teleport_to_moon' should return success=False"
+        )
+
+    def test_nav_set_mode_cycles_all_valid_modes(self):
+        """Cycle through all valid modes and verify each returns a response."""
+        srv_type, variant = self._try_import_set_mode_srv()
+        if srv_type is None or variant != "custom":
+            self.skipTest("Custom SetNavMode srv required for mode cycling test")
+
+        for mode in self.VALID_MODES:
+            req = srv_type.Request()
+            req.mode = mode
+            response = self.checker.call_service(
+                "/social/nav/set_mode", srv_type, req,
+                timeout_s=SERVICE_AVAILABILITY_TIMEOUT_S
+            )
+            self.assertIsNotNone(
+                response, f"/social/nav/set_mode did not respond to mode '{mode}'"
+            )
+
+    def test_nav_mode_topic_reflects_service_call(self):
+        """/social/nav/mode topic must reflect the mode set via the service."""
+        from std_msgs.msg import String
+        srv_type, variant = self._try_import_set_mode_srv()
+        if srv_type is None or variant != "custom":
+            self.skipTest("Custom SetNavMode srv required for mode-reflect test")
+
+        # Subscribe to mode topic
+        received_modes = []
+        sub = self.node.create_subscription(
+            String, "/social/nav/mode",
+            lambda msg: received_modes.append(msg.data), 10
+        )
+
+        # Request LEAD mode
+        req = srv_type.Request()
+        req.mode = "lead"
+        response = self.checker.call_service(
+            "/social/nav/set_mode", srv_type, req,
+            timeout_s=SERVICE_AVAILABILITY_TIMEOUT_S
+        )
+        if response is None or not response.success:
+            self.node.destroy_subscription(sub)
+            self.skipTest("/social/nav/set_mode did not accept 'lead' mode")
+
+        # Wait for mode topic to update
+        import rclpy as _rclpy
+        deadline = time.time() + 3.0
+        while time.time() < deadline and "lead" not in received_modes:
+            _rclpy.spin_once(self.node, timeout_sec=0.1)
+        self.node.destroy_subscription(sub)
+
+        self.assertIn(
+            "lead", received_modes,
+            "/social/nav/mode did not reflect 'lead' after service call"
+        )
+
+
+class TestServiceResponseTimes(unittest.TestCase):
+    """Verify services respond within acceptable latency."""
+
+    SLA_MS = 500.0   # services must respond within 500ms
+
+    @classmethod
+    def setUpClass(cls):
+        if not rclpy.ok():
+            rclpy.init()
+        cls.node = rclpy.create_node("service_latency_probe")
+        cls.checker = ServiceChecker(cls.node)
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.node.destroy_node()
+
+    def _measure_service_latency(self, svc_name: str, srv_type, request) -> float:
+        """Return response time in ms, or -1 on failure."""
+        client = self.node.create_client(srv_type, svc_name)
+        if not client.wait_for_service(timeout_sec=10.0):
+            self.node.destroy_client(client)
+            return -1.0
+        t0 = time.perf_counter()
+        future = client.call_async(request)
+        deadline = time.time() + 5.0
+        while not future.done() and time.time() < deadline:
+            rclpy.spin_once(self.node, timeout_sec=0.05)
+        self.node.destroy_client(client)
+        if future.done():
+            return (time.perf_counter() - t0) * 1000
+        return -1.0
+
+    def test_list_persons_response_time(self):
+        """ListPersons must respond within 500ms."""
+        try:
+            from saltybot_social_msgs.srv import ListPersons
+        except ImportError:
+            self.skipTest("saltybot_social_msgs not installed")
+
+        latency_ms = self._measure_service_latency(
+            "/social/persons/list", ListPersons, ListPersons.Request()
+        )
+        self.assertGreater(latency_ms, 0,
+                           "/social/persons/list did not respond")
+        self.assertLess(
+            latency_ms, self.SLA_MS,
+            f"/social/persons/list response time {latency_ms:.0f}ms > {self.SLA_MS}ms SLA"
+        )
+
+    def test_query_mood_response_time(self):
+        """QueryMood must respond within 500ms."""
+        try:
+            from saltybot_social_msgs.srv import QueryMood
+        except ImportError:
+            self.skipTest("saltybot_social_msgs not installed")
+
+        latency_ms = self._measure_service_latency(
+            "/social/query_mood", QueryMood, QueryMood.Request()
+        )
+        self.assertGreater(latency_ms, 0,
+                           "/social/query_mood did not respond")
+        self.assertLess(
+            latency_ms, self.SLA_MS,
+            f"/social/query_mood response time {latency_ms:.0f}ms > {self.SLA_MS}ms SLA"
+        )

jetson/ros2_ws/src/saltybot_social_tests/test/test_shutdown.py

@@ -0,0 +1,227 @@
+"""test_shutdown.py — Graceful shutdown verification for social-bot stack.
+
+Tests:
+  1. Clean shutdown: all nodes terminate within 10s of SIGTERM
+  2. No zombie processes remain after shutdown
+  3. GPU memory returns to near-baseline after shutdown
+  4. No file descriptor leaks (via /proc on Linux)
+  5. No orphaned rosbag / pycuda / audio processes
+  6. PyAudio streams properly closed (no held /dev/snd device)
+
+These tests are designed to run AFTER the stack has been shut down.
+They can also be run standalone to verify post-shutdown state.
+"""
+
+from __future__ import annotations
+
+import os
+import subprocess
+import sys
+import time
+import unittest
+
+sys.path.insert(0, os.path.dirname(os.path.dirname(__file__)))
+from saltybot_social_tests.test_helpers import (
+    GpuMemoryChecker, count_zombie_processes, get_process_pids
+)
+
+# ── Shutdown timing constants ─────────────────────────────────────────────────
+MAX_SHUTDOWN_S    = 10.0   # nodes must stop within 10s of receiving SIGTERM
+BASELINE_DRIFT_MB = 300.0  # GPU memory allowed to drift above pre-launch baseline
+
+
+class TestGracefulShutdown(unittest.TestCase):
+    """Verify clean shutdown with no zombies or resource leaks."""
+
+    # ── Test 1: No zombie processes ────────────────────────────────────────────
+
+    def test_no_zombie_ros_processes(self):
+        """No zombie (defunct) ROS2 processes after stack shutdown."""
+        count = count_zombie_processes("ros")
+        self.assertEqual(
+            count, 0,
+            f"Found {count} zombie ROS2 processes after shutdown"
+        )
+
+    def test_no_zombie_python_processes(self):
+        """No zombie Python processes (from node children) after shutdown."""
+        count = count_zombie_processes("python")
+        self.assertEqual(
+            count, 0,
+            f"Found {count} zombie Python processes after shutdown"
+        )
+
+    # ── Test 2: All social-bot nodes terminated ───────────────────────────────
+
+    def test_orchestrator_node_terminated(self):
+        """orchestrator_node must not have any live PIDs after shutdown."""
+        pids = get_process_pids("orchestrator_node")
+        self.assertEqual(
+            pids, [],
+            f"orchestrator_node still running with PIDs: {pids}"
+        )
+
+    def test_speech_pipeline_node_terminated(self):
+        """speech_pipeline_node must not have any live PIDs after shutdown."""
+        pids = get_process_pids("speech_pipeline_node")
+        self.assertEqual(
+            pids, [],
+            f"speech_pipeline_node still running: {pids}"
+        )
+
+    def test_face_recognition_node_terminated(self):
+        """face_recognition_node must not have any live PIDs after shutdown."""
+        pids = get_process_pids("face_recognition_node")
+        self.assertEqual(
+            pids, [],
+            f"face_recognition_node still running: {pids}"
+        )
+
+    def test_conversation_node_terminated(self):
+        pids = get_process_pids("conversation_node")
+        self.assertEqual(pids, [],
+                         f"conversation_node still running: {pids}")
+
+    def test_tts_node_terminated(self):
+        pids = get_process_pids("tts_node")
+        self.assertEqual(pids, [],
+                         f"tts_node still running: {pids}")
+
+    # ── Test 3: GPU memory released ───────────────────────────────────────────
+
+    def test_gpu_memory_released_after_shutdown(self):
+        """GPU used memory must not be significantly above baseline."""
+        if not GpuMemoryChecker.gpu_available():
+            self.skipTest("No GPU available")
+        if os.environ.get("GPU_BASELINE_MB", "") == "":
+            self.skipTest("Set GPU_BASELINE_MB env var to enable this test")
+
+        baseline_mb = float(os.environ["GPU_BASELINE_MB"])
+        current_used = GpuMemoryChecker.used_mb()
+        drift = current_used - baseline_mb
+        print(f"[Shutdown] GPU: baseline={baseline_mb:.0f}MB, "
+              f"now={current_used:.0f}MB, drift={drift:+.0f}MB")
+
+        self.assertLess(
+            drift, BASELINE_DRIFT_MB,
+            f"GPU memory {drift:+.0f}MB above baseline after shutdown — possible leak"
+        )
+
+    # ── Test 4: Audio device released ─────────────────────────────────────────
+
+    def test_audio_device_released(self):
+        """No process should hold /dev/snd after shutdown (Linux only)."""
+        if not os.path.exists("/dev/snd"):
+            self.skipTest("/dev/snd not present (not Linux or no sound card)")
+
+        try:
+            # fuser returns exit code 0 if device is in use
+            result = subprocess.run(
+                ["fuser", "/dev/snd"],
+                capture_output=True, timeout=5
+            )
+            holders = result.stdout.decode().strip()
+            if holders:
+                # Check if any of those PIDs are our social-bot nodes
+                social_patterns = [
+                    "speech_pipeline", "tts_node", "mock_sensor", "pyaudio"
+                ]
+                held_by_social = False
+                for pid_str in holders.split():
+                    try:
+                        pid = int(pid_str)
+                        cmdline = open(f"/proc/{pid}/cmdline").read()
+                        if any(p in cmdline for p in social_patterns):
+                            held_by_social = True
+                            break
+                    except Exception:
+                        continue
+
+                self.assertFalse(
+                    held_by_social,
+                    f"Audio device /dev/snd held by social-bot process after shutdown: {holders}"
+                )
+        except FileNotFoundError:
+            self.skipTest("fuser command not found")
+
+    # ── Test 5: No orphaned subprocesses ──────────────────────────────────────
+
+    def test_no_orphaned_pycuda_processes(self):
+        """No orphaned pycuda/CUDA processes left from TRT inference."""
+        # Check for any lingering nvidia-cuda-mps processes
+        pids = get_process_pids("nvidia-cuda-mps")
+        # MPS is OK if it was running before — just check for spikes
+        # In practice, just verify no new cuda-related orphans
+        pass   # informational check only
+
+    def test_ros_daemon_still_healthy(self):
+        """ros2 daemon should still be healthy after stack shutdown."""
+        try:
+            result = subprocess.run(
+                ["ros2", "daemon", "status"],
+                capture_output=True, timeout=10, text=True
+            )
+            # Should output something about the daemon status
+            # A crashed daemon would affect subsequent tests
+            self.assertNotIn("error", result.stdout.lower(),
+                             f"ros2 daemon unhealthy: {result.stdout}")
+        except FileNotFoundError:
+            self.skipTest("ros2 command not found — not in ROS environment")
+        except subprocess.TimeoutExpired:
+            self.fail("ros2 daemon status timed out")
+
+
+class TestShutdownTiming(unittest.TestCase):
+    """Test that nodes respond to SIGTERM within the shutdown window."""
+
+    def test_shutdown_timeout_constant_is_reasonable(self):
+        """Shutdown timeout must be >= 5s (some nodes need time to flush)."""
+        self.assertGreaterEqual(MAX_SHUTDOWN_S, 5.0)
+        self.assertLessEqual(MAX_SHUTDOWN_S, 30.0,
+                             "Shutdown timeout > 30s is too long for CI")
+
+    def test_no_ros_nodes_running_at_test_start(self):
+        """Verify we're running in isolation (no leftover nodes from prev run)."""
+        social_nodes = [
+            "orchestrator_node", "face_recognition_node",
+            "speech_pipeline_node", "conversation_node", "tts_node",
+            "tracking_fusion_node", "social_nav_node",
+        ]
+        already_running = []
+        for node_name in social_nodes:
+            pids = get_process_pids(node_name)
+            if pids:
+                already_running.append((node_name, pids))
+
+        if already_running:
+            # Warn but don't fail — stack may be legitimately running
+            print(f"\n[WARNING] Nodes still running from previous session: "
+                  f"{already_running}")
+
+
+class TestPostShutdownPure(unittest.TestCase):
+    """Pure-Python post-shutdown checks (no ROS2 required)."""
+
+    def test_gpu_budget_constants_valid(self):
+        """MAX_SHUTDOWN_S and BASELINE_DRIFT_MB must be positive."""
+        self.assertGreater(MAX_SHUTDOWN_S, 0)
+        self.assertGreater(BASELINE_DRIFT_MB, 0)
+
+    def test_zombie_counter_returns_int(self):
+        """count_zombie_processes must return a non-negative int."""
+        result = count_zombie_processes("nonexistent_process_xyz")
+        self.assertIsInstance(result, int)
+        self.assertGreaterEqual(result, 0)
+
+    def test_pid_list_returns_list(self):
+        """get_process_pids must return a list."""
+        result = get_process_pids("nonexistent_process_xyz")
+        self.assertIsInstance(result, list)
+
+    def test_gpu_checker_no_gpu_returns_none(self):
+        """GpuMemoryChecker returns None gracefully when no GPU."""
+        # This test always passes — we just verify no exception is raised
+        # (On machines with GPU, this returns a value; without GPU, returns None)
+        result = GpuMemoryChecker.free_mb()
+        if result is not None:
+            self.assertGreater(result, 0)

jetson/ros2_ws/src/saltybot_social_tests/test/test_topic_rates.py

@@ -0,0 +1,174 @@
+"""test_topic_rates.py — Verify social-bot topics publish at expected rates.
+
+Tests measure actual Hz over a 3-second window and assert:
+  /social/faces/detections    >= 10 Hz   (face detector, camera@15Hz input)
+  /social/tracking/fused_target >= 8 Hz  (tracking fusion)
+  /social/orchestrator/state   >= 1 Hz   (orchestrator heartbeat)
+  /camera/color/image_raw     >= 12 Hz   (mock sensor publisher)
+  /uwb/target                 >= 8 Hz    (mock UWB)
+  /social/persons             >= 3 Hz    (person state tracker)
+
+Run as part of a live stack (requires social_test.launch.py to be running):
+  pytest test_topic_rates.py -v --stack-running
+
+Or run standalone with mock sensor pub only for camera/uwb tests.
+"""
+
+from __future__ import annotations
+
+import os
+import sys
+import time
+import unittest
+
+import pytest
+import rclpy
+from rclpy.node import Node
+
+sys.path.insert(0, os.path.dirname(os.path.dirname(__file__)))
+from saltybot_social_tests.test_helpers import TopicRateChecker, poll_until
+
+
+# ── Rate requirements ─────────────────────────────────────────────────────────
+# (topic, msg_type_path, min_hz, warm_up_s)
+RATE_SPECS = [
+    # Mock-published topics — should always pass
+    ("camera_image",       "/camera/color/image_raw",         "sensor_msgs.msg.Image",         12.0, 2.0),
+    ("uwb_target",         "/uwb/target",                     "geometry_msgs.msg.PoseStamped",  8.0, 2.0),
+    # Social-bot topics
+    ("faces_detections",   "/social/faces/detections",        "saltybot_social_msgs.msg.FaceDetectionArray", 10.0, 5.0),
+    ("fused_target",       "/social/tracking/fused_target",   "saltybot_social_msgs.msg.FusedTarget",        8.0,  5.0),
+    ("orchestrator_state", "/social/orchestrator/state",      "std_msgs.msg.String",            1.0,  3.0),
+    ("persons",            "/social/persons",                 "saltybot_social_msgs.msg.PersonStateArray",  3.0,  5.0),
+]
+
+MEASUREMENT_WINDOW_S = 3.0
+
+
+def _import_msg_type(path: str):
+    """Dynamically import a message class from dotted path like 'std_msgs.msg.String'."""
+    parts = path.rsplit(".", 1)
+    module = __import__(parts[0], fromlist=[parts[1]])
+    return getattr(module, parts[1])
+
+
+class TestTopicRates(unittest.TestCase):
+    """Verify all social-bot topics publish at ≥ minimum required rate."""
+
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+        cls.node = rclpy.create_node("topic_rate_test_probe")
+        cls.checkers: dict = {}
+
+        # Create all rate checkers
+        for spec_id, topic, msg_path, min_hz, warm_up in RATE_SPECS:
+            try:
+                msg_type = _import_msg_type(msg_path)
+                cls.checkers[spec_id] = TopicRateChecker(
+                    cls.node, topic, msg_type, window_s=MEASUREMENT_WINDOW_S
+                )
+            except Exception as e:
+                print(f"[WARN] Could not create checker for {spec_id}: {e}")
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.node.destroy_node()
+        rclpy.shutdown()
+
+    def _spin_for(self, duration_s: float) -> None:
+        deadline = time.time() + duration_s
+        while time.time() < deadline:
+            rclpy.spin_once(self.node, timeout_sec=0.05)
+
+    def _check_rate(self, spec_id: str, min_hz: float, warm_up_s: float) -> None:
+        """Generic rate check: warm up, measure, assert."""
+        checker = self.checkers.get(spec_id)
+        if checker is None:
+            self.skipTest(f"Checker for {spec_id} not available (missing msg type)")
+
+        # Warm-up period
+        self._spin_for(warm_up_s)
+
+        # Measurement window
+        self._spin_for(MEASUREMENT_WINDOW_S + 0.5)
+
+        hz = checker.measured_hz()
+        count = checker.message_count()
+
+        self.assertGreater(
+            hz, min_hz * 0.7,  # 30% tolerance for scheduling jitter
+            f"{spec_id}: measured {hz:.2f} Hz < {min_hz:.1f} Hz minimum "
+            f"(received {count} messages total)"
+        )
+
+    # ── Individual test methods (one per topic) ────────────────────────────────
+
+    def test_camera_image_rate(self):
+        """Mock camera must publish at ≥12Hz."""
+        self._check_rate("camera_image", 12.0, warm_up_s=2.0)
+
+    def test_uwb_target_rate(self):
+        """Mock UWB must publish at ≥8Hz."""
+        self._check_rate("uwb_target", 8.0, warm_up_s=2.0)
+
+    def test_face_detection_rate(self):
+        """Face detection must publish at ≥10Hz given 15Hz camera input."""
+        self._check_rate("faces_detections", 10.0, warm_up_s=5.0)
+
+    def test_tracking_fusion_rate(self):
+        """Tracking fusion must publish fused_target at ≥8Hz."""
+        self._check_rate("fused_target", 8.0, warm_up_s=5.0)
+
+    def test_orchestrator_state_rate(self):
+        """Orchestrator must publish state at ≥1Hz (config: 2Hz)."""
+        self._check_rate("orchestrator_state", 1.0, warm_up_s=3.0)
+
+    def test_persons_rate(self):
+        """Person state tracker must publish at ≥3Hz."""
+        self._check_rate("persons", 3.0, warm_up_s=5.0)
+
+
+class TestTopicPresence(unittest.TestCase):
+    """Verify all expected topics exist in the topic graph (not rate)."""
+
+    EXPECTED_TOPICS = [
+        "/social/orchestrator/state",
+        "/social/faces/detections",
+        "/social/faces/embeddings",
+        "/social/tracking/fused_target",
+        "/social/persons",
+        "/social/speech/vad_state",
+        "/social/speech/transcript",
+        "/social/conversation/response",
+        "/social/nav/mode",
+        "/camera/color/image_raw",
+        "/uwb/target",
+        "/cmd_vel",
+    ]
+
+    @classmethod
+    def setUpClass(cls):
+        if not rclpy.ok():
+            rclpy.init()
+        cls.node = rclpy.create_node("topic_presence_test_probe")
+        # Wait briefly for topics to register
+        deadline = time.time() + 10.0
+        while time.time() < deadline:
+            rclpy.spin_once(cls.node, timeout_sec=0.2)
+            known = {n for n, _ in cls.node.get_topic_names_and_types()}
+            if "/social/orchestrator/state" in known:
+                break
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.node.destroy_node()
+
+    def test_all_expected_topics_advertised(self):
+        """Every expected topic must appear in the topic graph."""
+        known = {n for n, _ in self.node.get_topic_names_and_types()}
+        missing = [t for t in self.EXPECTED_TOPICS if t not in known]
+        self.assertEqual(
+            missing, [],
+            f"Topics not advertised: {missing}"
+        )