jetson/ros2_ws/src/saltybot_bringup/package.xml

@@ -37,15 +37,6 @@
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>
-  <!-- Issue #504: Integration test suite dependencies -->
-  <test_depend>pytest</test_depend>
-  <test_depend>launch_testing</test_depend>
-  <test_depend>launch_testing_ros</test_depend>
-  <test_depend>rclpy</test_depend>
-  <test_depend>std_msgs</test_depend>
-  <test_depend>geometry_msgs</test_depend>
-  <test_depend>sensor_msgs</test_depend>
-  <test_depend>nav_msgs</test_depend>
 
   <export>
     <build_type>ament_python</build_type>

jetson/ros2_ws/src/saltybot_bringup/test/README_INTEGRATION_TESTS.md

@@ -1,152 +0,0 @@
-# Integration Test Suite — Issue #504
-
-Complete ROS2 system integration testing for SaltyBot full-stack bringup.
-
-## Test Files
-
-### `test_integration_full_stack.py` (Main Integration Tests)
-Comprehensive pytest-based integration tests that verify:
-- All ROS2 nodes launch successfully
-- Critical topics are published and subscribed
-- System components remain healthy under stress
-- Required services are available
-
-### `test_launch_full_stack.py` (Launch System Tests)
-Tests for launch file validity and system integrity:
-- Verifies launch file syntax is correct
-- Checks all required packages are installed
-- Validates launch sequence timing
-- Confirms conditional logic for optional components
-
-## Running the Tests
-
-### Prerequisites
-```bash
-cd /Users/seb/AI/saltylab-firmware/jetson/ros2_ws
-colcon build --packages-select saltybot_bringup
-source install/setup.bash
-```
-
-### Run All Integration Tests
-```bash
-pytest test/test_integration_full_stack.py -v
-pytest test/test_launch_full_stack.py -v
-```
-
-### Run Specific Tests
-```bash
-# Test LIDAR publishing
-pytest test/test_integration_full_stack.py::TestIntegrationFullStack::test_lidar_publishing -v
-
-# Test launch file validity
-pytest test/test_launch_full_stack.py::TestFullStackSystemIntegrity::test_launch_file_syntax_valid -v
-```
-
-### Run with Follow Mode (Recommended for CI/CD)
-```bash
-# Start full_stack in follow mode
-ros2 launch saltybot_bringup full_stack.launch.py mode:=follow enable_bridge:=false &
-
-# Wait for startup
-sleep 10
-
-# Run integration tests
-pytest test/test_integration_full_stack.py -v --tb=short
-
-# Kill background launch
-kill %1
-```
-
-## Test Coverage
-
-### Core System Components
-- Robot Description (URDF/TF tree)
-- STM32 Serial Bridge
-- cmd_vel Bridge  
-- Rosbridge WebSocket
-
-### Sensors
-- RPLIDAR (/scan)
-- RealSense RGB (/camera/color/image_raw)
-- RealSense Depth
-- RealSense IMU
-- Robot IMU (/saltybot/imu)
-
-### Navigation
-- Odometry (/odom)
-- SLAM/RTAB-Map (/rtabmap/odom, /rtabmap/map)
-- Nav2 Stack
-- TF2 Tree
-
-### Perception
-- Person Detection
-- UWB Positioning
-
-### Monitoring
-- Battery Monitoring
-- Docking Behavior
-- Audio Pipeline
-- System Diagnostics
-
-## Test Results
-
-- ✅ **PASSED** — Component working correctly
-- ⚠️ **SKIPPED** — Optional component not active
-- ❌ **FAILED** — Component not responding
-
-## Troubleshooting
-
-### LIDAR not publishing
-```bash
-# Check RPLIDAR connection
-ls -l /dev/ttyUSB*
-
-# Verify permissions
-sudo usermod -a -G dialout $(whoami)
-```
-
-### RealSense not responding
-```bash
-# Check USB connection
-realsense-viewer
-
-# Verify driver
-sudo apt install ros-humble-librealsense2
-```
-
-### SLAM not running (indoor mode)
-```bash
-# Install RTAB-Map
-apt install ros-humble-rtabmap-ros
-
-# Check memory (SLAM needs ~1GB)
-free -h
-```
-
-### cmd_vel bridge not responding
-```bash
-# Verify STM32 bridge is running first
-ros2 node list | grep bridge
-
-# Check serial port
-ls -l /dev/stm32-bridge
-```
-
-## Performance Baseline
-
-**Follow mode (no SLAM):**
-- Total startup: ~12 seconds
-
-**Indoor mode (full system):**
-- Total startup: ~20-25 seconds
-
-## Related Issues
-
-- **#192** — Robot event log viewer
-- **#212** — Joystick teleop widget
-- **#213** — PID auto-tuner
-- **#222** — Network diagnostics
-- **#229** — 3D pose viewer
-- **#234** — Audio level meter
-- **#261** — Waypoint editor
-- **#504** — Integration test suite (this)

jetson/ros2_ws/src/saltybot_bringup/test/test_integration_full_stack.py

@@ -1,155 +0,0 @@
-"""
-test_integration_full_stack.py — Integration tests for the complete ROS2 system stack.
-
-Tests that all ROS2 nodes launch together successfully, publish expected topics,
-and provide required services.
-
-Coverage:
-  - SLAM (RTAB-Map) — indoor mode
-  - Nav2 navigation stack
-  - Perception (YOLOv8n person detection)
-  - Controls (cmd_vel bridge, motors)
-  - Audio pipeline and monitoring
-  - Monitoring nodes (battery, temperature, diagnostics)
-  - Sensor integration (LIDAR, RealSense, UWB)
-
-Usage:
-  pytest test/test_integration_full_stack.py -v --tb=short
-  pytest test/test_integration_full_stack.py::TestIntegrationFullStack::test_slam_startup -v
-"""
-
-import os
-import sys
-import time
-import pytest
-import threading
-
-import rclpy
-from rclpy.node import Node
-from rclpy.executors import SingleThreadedExecutor
-from std_msgs.msg import String, Bool, Float32
-from geometry_msgs.msg import Twist
-from nav_msgs.msg import Odometry
-from sensor_msgs.msg import LaserScan, Imu, Image, CameraInfo
-from ament_index_python.packages import get_package_share_directory
-
-
-class ROS2FixtureNode(Node):
-    """Helper node for verifying topics and services during integration tests."""
-
-    def __init__(self, name: str = "integration_test_monitor"):
-        super().__init__(name)
-        self.topics_seen = set()
-        self.services_available = set()
-        self.topic_cache = {}
-        self.executor = SingleThreadedExecutor()
-        self.executor.add_node(self)
-        self._executor_thread = None
-
-    def start_executor(self):
-        """Start executor in background thread."""
-        if self._executor_thread is None:
-            self._executor_thread = threading.Thread(target=self._run_executor, daemon=True)
-            self._executor_thread.start()
-
-    def _run_executor(self):
-        """Run executor in background."""
-        try:
-            self.executor.spin()
-        except Exception as e:
-            self.get_logger().error(f"Executor error: {e}")
-
-    def subscribe_to_topic(self, topic: str, msg_type, timeout_s: float = 5.0) -> bool:
-        """Subscribe to a topic and wait for first message."""
-        received = threading.Event()
-        last_msg = [None]
-
-        def callback(msg):
-            last_msg[0] = msg
-            self.topics_seen.add(topic)
-            received.set()
-
-        try:
-            sub = self.create_subscription(msg_type, topic, callback, 10)
-            got_msg = received.wait(timeout=timeout_s)
-            self.destroy_subscription(sub)
-            if got_msg and last_msg[0]:
-                self.topic_cache[topic] = last_msg[0]
-            return got_msg
-        except Exception as e:
-            self.get_logger().warn(f"Failed to subscribe to {topic}: {e}")
-            return False
-
-    def cleanup(self):
-        """Clean up ROS2 resources."""
-        try:
-            self.executor.shutdown()
-            if self._executor_thread:
-                self._executor_thread.join(timeout=2.0)
-        except Exception as e:
-            self.get_logger().warn(f"Cleanup error: {e}")
-        finally:
-            self.destroy_node()
-
-
-@pytest.fixture(scope="function")
-def ros_context():
-    """Initialize and cleanup ROS2 context for each test."""
-    if not rclpy.ok():
-        rclpy.init()
-
-    node = ROS2FixtureNode()
-    node.start_executor()
-    time.sleep(0.5)
-
-    yield node
-
-    try:
-        node.cleanup()
-    except Exception as e:
-        print(f"Fixture cleanup error: {e}")
-
-    if rclpy.ok():
-        rclpy.shutdown()
-
-
-class TestIntegrationFullStack:
-    """Integration tests for full ROS2 stack."""
-
-    def test_lidar_publishing(self, ros_context):
-        """Verify LIDAR (RPLIDAR) publishes scan data."""
-        has_scan = ros_context.subscribe_to_topic("/scan", LaserScan, timeout_s=5.0)
-        assert has_scan, "LIDAR scan topic not published"
-
-    def test_realsense_rgb_stream(self, ros_context):
-        """Verify RealSense publishes RGB camera data."""
-        has_rgb = ros_context.subscribe_to_topic("/camera/color/image_raw", Image, timeout_s=5.0)
-        assert has_rgb, "RealSense RGB stream not available"
-
-    def test_cmd_vel_bridge_listening(self, ros_context):
-        """Verify cmd_vel bridge is ready to receive commands."""
-        try:
-            pub = ros_context.create_publisher(Twist, "/cmd_vel", 10)
-            msg = Twist()
-            msg.linear.x = 0.0
-            msg.angular.z = 0.0
-            pub.publish(msg)
-            time.sleep(0.1)
-            ros_context.destroy_publisher(pub)
-            assert True, "cmd_vel bridge operational"
-        except Exception as e:
-            pytest.skip(f"cmd_vel bridge test skipped: {e}")
-
-
-class TestLaunchFileValidity:
-    """Tests to validate launch file syntax and structure."""
-
-    def test_full_stack_launch_exists(self):
-        """Verify full_stack.launch.py exists and is readable."""
-        pkg_dir = get_package_share_directory("saltybot_bringup")
-        launch_file = os.path.join(pkg_dir, "launch", "full_stack.launch.py")
-        assert os.path.isfile(launch_file), f"Launch file not found: {launch_file}"
-
-
-if __name__ == "__main__":
-    pytest.main([__file__, "-v", "--tb=short"])

jetson/ros2_ws/src/saltybot_bringup/test/test_launch_full_stack.py

@@ -1,65 +0,0 @@
-"""
-test_launch_full_stack.py — Launch testing for full ROS2 stack integration.
-
-Uses launch_testing to verify the complete system launches correctly.
-"""
-
-import os
-import pytest
-from ament_index_python.packages import get_package_share_directory
-
-
-class TestFullStackSystemIntegrity:
-    """Tests for overall system integrity during integration."""
-
-    def test_launch_file_syntax_valid(self):
-        """Verify full_stack.launch.py has valid Python syntax."""
-        pkg_dir = get_package_share_directory("saltybot_bringup")
-        launch_file = os.path.join(pkg_dir, "launch", "full_stack.launch.py")
-        try:
-            with open(launch_file, 'r') as f:
-                code = f.read()
-            compile(code, launch_file, 'exec')
-            assert True, "Launch file syntax is valid"
-        except SyntaxError as e:
-            pytest.fail(f"Launch file has syntax error: {e}")
-
-    def test_launch_dependencies_installed(self):
-        """Verify all launch file dependencies are installed."""
-        try:
-            required_packages = [
-                'saltybot_bringup',
-                'saltybot_description',
-                'saltybot_bridge',
-            ]
-            for pkg in required_packages:
-                dir_path = get_package_share_directory(pkg)
-                assert dir_path and os.path.isdir(dir_path), f"Package {pkg} not found"
-            assert True, "All required packages installed"
-        except Exception as e:
-            pytest.skip(f"Package check skipped: {e}")
-
-
-class TestComponentLaunchSequence:
-    """Tests for launch sequence and timing."""
-
-    def test_launch_sequence_timing(self):
-        """Verify launch sequence timing is reasonable."""
-        pkg_dir = get_package_share_directory("saltybot_bringup")
-        launch_file = os.path.join(pkg_dir, "launch", "full_stack.launch.py")
-        with open(launch_file, 'r') as f:
-            content = f.read()
-        timer_count = content.count("TimerAction")
-        assert timer_count > 5, "Launch should have multiple timed launch groups"
-
-    def test_conditional_launch_logic(self):
-        """Verify conditional launch logic for optional components."""
-        pkg_dir = get_package_share_directory("saltybot_bringup")
-        launch_file = os.path.join(pkg_dir, "launch", "full_stack.launch.py")
-        with open(launch_file, 'r') as f:
-            content = f.read()
-        assert "IfCondition" in content or "enable_" in content
-
-
-if __name__ == "__main__":
-    pytest.main([__file__, "-v", "--tb=short"])