saltylab-firmware

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sl-webui fe49798918 feat: Add Issue #504 - Integration test suite with launch_testing

Create saltybot_tests package with comprehensive automated testing:

Test Coverage:
- Node startup verification (all critical nodes within 30s)
- Topic publishing verification
- TF tree completeness (all transforms present)
- Sensor health checks (RPLIDAR, RealSense, IMU)
- Perception pipeline (person detection availability)
- Navigation stack (odometry, transforms)
- System stability (30-second no-crash test)
- Graceful shutdown verification

Features:
- launch_testing framework for automated startup tests
- NodeChecker: wait for nodes in ROS graph
- TFChecker: verify TF tree completeness
- TopicMonitor: track message rates and counts
- Follow mode tests (minimal hardware deps)
- Subsystem-specific tests for sensor health
- Comprehensive README with troubleshooting

Usage:
  pytest src/saltybot_tests/test/test_launch.py -v -s
  or
  colcon test --packages-select saltybot_tests

Performance Targets:
- Node startup: <30s (follow mode)
- RPLIDAR: 10 Hz scan rate
- RealSense: 30 Hz RGB + depth
- Person detection: 5 Hz
- System stability: 30s no-crash validation

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>

2026-03-06 10:22:58 -05:00

.claude/plans

feat: Add Issue #467 - Power management supervisor with battery protection

2026-03-05 14:34:37 -05:00

.gitea/workflows

feat(tests): social-bot integration test suite (Issue #108 )

2026-03-02 08:50:22 -05:00

.pio/build

fix: rename MeshPeer namespace field to ros_namespace (Issue #392 )

2026-03-04 12:42:35 -05:00

chassis

feat(mechanical): RPLIDAR A1 parametric dust/splash cover (Issue #301 )