Is there any black box testing tool in ROS?
Hi, I want to test my SLAM system whose input is sensor msgs(camera, imu ...) and the output is the map and pose.
I'd like to do black box testing on the system(several nodes) , by giving the input and checking if the output right. I think I can record a rosbag with the inputs and then insert groundtruth at specific timestamp into it. By checking the output and the groundtruth of the same timestamp, I can see if the system run well.
Is there any tool or framework to do this kind of integrating testing on system?
I think the title of your post is too generic: you're specifically asking for a testing tool for SLAM algorithms. As there could be some stochastic elements in there (or even just plain optimisations), output may not always be 1-on-1 identical between runs. Simple
==output with groundtruth .... would not be sufficient. A more qualitative approach such as the one suggested by @NEngelhard would make more sense.
May I suggest to, at the very least, mention the SLAM aspect / context in the topic title?
Ok. I just want to test SLAM. There seems no general system to do black box testing on nodes.