saltylab-firmware

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sl-webui d3eca7bebc 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>

2026-03-06 16:42:38 -05:00

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