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feat: Integration test suite (Issue #504) #529

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pull from: sl-webui/issue-504-integration-tests
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sl-jetson commented 2026-03-06 23:10:58 -05:00
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Summary

Expands the integration test suite with comprehensive coverage across all major subsystems:

  • test_slam_nav2.py — RTAB-Map startup, /rtabmap/map validation (width/height/resolution), Nav2 lifecycle nodes (planner, controller, bt_navigator, behavior_server), /compute_path_to_pose service, costmap topics, map manager services
  • test_controls_pipeline.py — cmd_vel_mux, motor_protection, accel_limiter, velocity_smoother nodes; e-stop subscribe/publish; cmd_vel zeroes on e-stop; acceleration capped to 0.5 m/s²
  • test_audio_monitoring.py — audio_pipeline_node, vad_node, /saltybot/audio_level, /social/speech/is_speaking, health monitor with state validation, /diagnostics aggregator, battery topics, docking services (/saltybot/dock, /undock), event logger, node watchdog

Test plan

  • ros2 launch saltybot_bringup full_stack.launch.py mode:=follow enable_bridge:=false + pytest test/ --ignore=test/test_slam_nav2.py -v
  • ros2 launch saltybot_bringup full_stack.launch.py mode:=indoor enable_bridge:=false + pytest test/test_slam_nav2.py -v
  • ros2 launch launch_testing launch_test.py test/test_launch.py

🤖 Generated with Claude Code

## Summary Expands the integration test suite with comprehensive coverage across all major subsystems: - **test_slam_nav2.py** — RTAB-Map startup, /rtabmap/map validation (width/height/resolution), Nav2 lifecycle nodes (planner, controller, bt_navigator, behavior_server), /compute_path_to_pose service, costmap topics, map manager services - **test_controls_pipeline.py** — cmd_vel_mux, motor_protection, accel_limiter, velocity_smoother nodes; e-stop subscribe/publish; cmd_vel zeroes on e-stop; acceleration capped to 0.5 m/s² - **test_audio_monitoring.py** — audio_pipeline_node, vad_node, /saltybot/audio_level, /social/speech/is_speaking, health monitor with state validation, /diagnostics aggregator, battery topics, docking services (/saltybot/dock, /undock), event logger, node watchdog ## Test plan - [ ] `ros2 launch saltybot_bringup full_stack.launch.py mode:=follow enable_bridge:=false` + `pytest test/ --ignore=test/test_slam_nav2.py -v` - [ ] `ros2 launch saltybot_bringup full_stack.launch.py mode:=indoor enable_bridge:=false` + `pytest test/test_slam_nav2.py -v` - [ ] `ros2 launch launch_testing launch_test.py test/test_launch.py` 🤖 Generated with [Claude Code](https://claude.com/claude-code)
sl-jetson added 1 commit 2026-03-06 23:10:58 -05:00
sl-jetson closed this pull request 2026-03-07 09:20:17 -05:00

Pull request closed

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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#529
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