# SaltyBot Integration Test Suite (Issue #504)

Comprehensive automated testing for the SaltyBot full stack. Verifies all nodes start, topics publish, TF tree is complete, and system remains stable.

## What's Tested

### Main Test (test_launch.py)
- ✅ All critical nodes start within 30 seconds
- ✅ Required topics are advertised
- ✅ TF tree is complete
- ✅ Sensor data publishing (odometry, IMU, LIDAR, camera)
- ✅ Person detection topic available
- ✅ No immediate node crashes
- ✅ **System stability for 30 seconds** (all nodes remain alive)

### Subsystem Tests (test_subsystems.py)
- **Sensor Health**: LIDAR scan rate, RealSense RGB/depth, IMU publishing
- **Perception**: YOLOv8 person detection node alive and publishing
- **Navigation**: Odometry continuity, TF broadcasts active
- **Communication**: Rosbridge server running, critical topics bridged

## Running Tests

### Quick Test (follow mode, ~45 seconds)
```bash
cd jetson/ros2_ws
colcon build --packages-select saltybot_tests
source install/setup.bash

# Run all tests
pytest install/saltybot_tests/lib/saltybot_tests/../../../share/saltybot_tests/ -v -s

# Or directly
ros2 launch launch_testing launch_test.py ./src/saltybot_tests/test/test_launch.py
```

### Individual Test File
```bash
pytest src/saltybot_tests/test/test_launch.py -v -s
pytest src/saltybot_tests/test/test_subsystems.py -v
```

### With colcon test
```bash
colcon test --packages-select saltybot_tests --event-handlers console_direct+
```

## Test Modes

### Follow Mode (Default - Fastest)
- ✅ Sensors: RPLIDAR, RealSense D435i
- ✅ Person detection: YOLOv8n
- ✅ Person follower controller
- ✅ UWB positioning
- ✅ Rosbridge WebSocket
- ❌ SLAM (not required)
- ❌ Nav2 (not required)
- **Startup time**: ~30 seconds
- **Best for**: Quick CI/CD validation

### Indoor Mode (Full Stack)
- Everything in follow mode +
- ✅ SLAM: RTAB-Map with RGB-D + LIDAR
- ✅ Nav2 navigation stack
- **Startup time**: ~45 seconds
- **Best for**: Complete system validation

## Test Output

### Success Example
```
test_launch.py::TestSaltyBotStackLaunch::test_01_critical_nodes_start PASSED
test_launch.py::TestSaltyBotStackLaunch::test_02_required_topics_advertised PASSED
test_launch.py::TestSaltyBotStackLaunch::test_03_tf_tree_complete PASSED
test_launch.py::TestSaltyBotStackLaunch::test_04_odometry_publishing PASSED
test_launch.py::TestSaltyBotStackLaunch::test_05_sensors_publishing PASSED
test_launch.py::TestSaltyBotStackLaunch::test_06_person_detection_advertised PASSED
test_launch.py::TestSaltyBotStackLaunch::test_07_no_immediate_crashes PASSED
test_launch.py::TestSaltyBotStackLaunch::test_08_system_stability_30s PASSED
```

### Failure Example
```
FAILED test_launch.py::TestSaltyBotStackLaunch::test_02_required_topics_advertised
  AssertionError: Required topics not advertised: ['/uwb/target', '/person/detections']
  Advertised: ['/camera/color/image_raw', '/scan', ...]
```

## CI Integration

Add to your CI/CD pipeline:
```yaml
- name: Run Integration Tests
  run: |
    source /opt/ros/humble/setup.bash
    colcon build --packages-select saltybot_tests
    colcon test --packages-select saltybot_tests --event-handlers console_direct+
```

## Troubleshooting

### Nodes Don't Start
- Check hardware connections: RPLIDAR, RealSense, UWB anchors
- Review full_stack.launch.py for required serial ports
- Check logs: `ros2 run rqt_graph rqt_graph`

### Topics Missing
- Verify nodes are alive: `ros2 node list`
- Check topic list: `ros2 topic list`
- Inspect topics: `ros2 topic echo /scan` (first 10 messages)

### TF Tree Incomplete
- Verify robot_description is loaded
- Check URDF: `ros2 param get /robot_state_publisher robot_description`
- Monitor transforms: `ros2 run tf2_tools view_frames.py`

### Sensor Data Not Publishing
- **RPLIDAR**: Check `/dev/ttyUSB0` permissions
- **RealSense**: Check USB connection, device list: `rs-enumerate-devices`
- **IMU**: Verify RealSense firmware is current

### Test Timeout
- Integration tests default to 120s per test
- Increase timeout in `conftest.py` if needed
- Check system load: `top` or `htop`

## Architecture

```
saltybot_tests/
├── test/
│   ├── test_launch.py          ← Main launch_testing tests
│   ├── test_subsystems.py      ← Detailed subsystem checks
│   └── conftest.py
├── saltybot_tests/
│   ├── test_helpers.py         ← NodeChecker, TFChecker, TopicMonitor
│   └── __init__.py
├── package.xml                 ← ROS2 metadata
├── setup.py                    ← Python build config
└── README.md
```

## Key Features

### NodeChecker
Waits for nodes to appear in the ROS graph. Useful for verifying startup sequence.

### TFChecker
Ensures TF tree is complete (all required frame transforms exist).

### TopicMonitor
Tracks message counts and publishing rates for sensors.

## Contributing

Add new integration tests in `test/`:
1. Create `test_feature.py` with `unittest.TestCase` subclass
2. Use `NodeChecker`, `TFChecker`, `TopicMonitor` helpers
3. Follow test naming: `test_01_critical_functionality`
4. Run locally: `pytest test/test_feature.py -v -s`

## Performance Targets

| Component | Startup | Rate | Status |
|-----------|---------|------|--------|
| Robot description | <1s | N/A | ✅ |
| RPLIDAR driver | <2s | 10 Hz | ✅ |
| RealSense | <2s | 30 Hz | ✅ |
| Person detection | <6s | 5 Hz | ✅ |
| Follower | <9s | 10 Hz | ✅ |
| Rosbridge | <17s | N/A | ✅ |
| Full stack stable | 30s | N/A | ✅ |

## See Also

- [full_stack.launch.py](../saltybot_bringup/launch/full_stack.launch.py) — Complete startup sequence
- [ROS2 launch_testing](https://docs.ros.org/en/humble/p/launch_testing/) — Test framework
- Issue #504: Robot integration test suite