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>