feat: Integration test suite (Issue #504)
Add comprehensive integration testing for complete ROS2 system stack:
Integration Tests (test_integration_full_stack.py):
- Verifies all ROS2 nodes launch successfully
- Checks critical topics are published (sensors, nav, control)
- Validates system component health and stability
- Tests launch file validity and configuration
- Covers indoor/outdoor/follow modes
Launch Testing (test_launch_full_stack.py):
- Validates launch file syntax and configuration
- Verifies all required packages are installed
- Checks launch sequence timing
- Validates conditional logic for optional components
Test Coverage:
✓ SLAM/RTAB-Map (indoor mode)
✓ Nav2 navigation stack
✓ Perception (YOLOv8n person detection)
✓ Control (cmd_vel bridge, STM32 bridge)
✓ Audio pipeline and monitoring
✓ Sensors (LIDAR, RealSense, UWB, CSI cameras)
✓ Battery and temperature monitoring
✓ Autonomous docking behavior
✓ TF2 tree and odometry
Usage:
pytest test/test_integration_full_stack.py -v
pytest test/test_launch_full_stack.py -v
Documentation:
See test/README_INTEGRATION_TESTS.md for detailed information.
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
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