How can I unit test a ROS nodelet?

asked 2017-10-18 16:16:52 -0500

thinwybk gravatar image

Does somebody know examples of ROS unit tests of nodelets?

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What would you want to test specifically? Business logic used by the nodelet (should have other unit tests), or logic contained in the nodelet? Or the nodelet management infrastructure? At the ROS API level, there isn't really much difference between a nodelet and a node.

gvdhoorn gravatar image gvdhoorn  ( 2017-10-19 03:08:31 -0500 )edit

I am interested in testing nodelets w.r.t. the differences between a node and a nodelet... means the nodelet management structure which falls not into the category of nodelet integration testing. (Is it even possible to consider the unit and integration level separate?)

thinwybk gravatar image thinwybk  ( 2017-10-19 04:28:03 -0500 )edit

the nodelet management structure

so that would be testing the nodelet package itself then? As that provides the loading/starting/stopping of nodelets.

Not random other nodelets that are based on that.

gvdhoorn gravatar image gvdhoorn  ( 2017-10-19 04:32:39 -0500 )edit