Dependency injection patterns in ROS

asked 2017-05-29 13:44:22 -0500

thinwybk gravatar image

During "ROS Node Unit Testing" and "ROS Node Integration Testing" I would like to inject dependencies of ROS nodes on library level C++/Python classes explicitly (e.g. to replace real sensors classes with fake sensor classes, replace real actuators with fake actuator classes, etc.).

Are there any dependency injection patterns/techniques in the ROS Node Level?

(In the "Library Unit Test Level" the dependency injection patterns/techniques are quite clear. I am interested in dependency injection patterns in the "ROS Node Level" only.)

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One way would be to add paramters to the nodes interface. This way one or several of the nodes dependencies could be changed to e.g. a fake dependencies. One or several dependencies could be configured similar to the rostest test nodes.

thinwybk gravatar image thinwybk  ( 2017-06-28 13:58:24 -0500 )edit

An example of how to actually do this will be added here:

thinwybk gravatar image thinwybk  ( 2017-10-25 03:15:42 -0500 )edit