Bernat Gaston's profile - activity

Hi all,

Some time ago I used to be responsible of the testing framework of some software products outside of ROS. It's been some time that I am working in ROS now (lately in ROS2) and there are aspects on the testing design of ROS2 that I still don't understand. Specifically, I am talking about unit testing and the fact that many ROS2 functionalities are designed to use rclcpp:Node in an inheritance mode.

As far as I'm concerned in unit testing, you want to test (ideally one) aspect of you own code. This is why many libraries are using Dependency Injection instead of inheritance, to help developers test only their code. Hence, when you want to test, instead of the main library, you inject a mock and you can test your function without the need to call the library.

However, I see that the main code of ros2 and also the tests included use rclcpp:Node directly (without using mocks) and test multiple things (actually it seems that tests are most of the times integration ones and not unit ones). For example

https://github.com/ros2/rclcpp/blob/b...

Also, I tend to find the tests very long and difficult to follow, so I am a bit lost here. I assume I am not understanding something of the idea behind the testing architecture of ROS2. Why so inheritance based? Why testing so many things in a single function?

I have searched for a "testing guideline" or something like that but I am unable to find it. Can anybody enlighten this?

Many thanks

Wait, have you tried this execution in your local before going to the CI? In my experiencie github CI gives a lot of pro

sudo apt install locate sudo updatedb locate point_indices.hpp

Ok. Can you search for this file? I usually use locate for finding these files. Just to see if the file is in the system

Are you adding pcl_msgs as a dependency in your CMake?

I'm a bit lost with your question. Which is the reason to not use SLAM toolbox http://wiki.ros.org/slam_toolbox?

Well, basically, this is what you should do. You have to work with inflation radius and footprint padding. Be careful wi

Well, basically, this is what you should do. You have to work with inflation radius and footprint padding. Be careful wi

That makes a lot of sense. Thanks!

Well, basically, this is what you should do. You have to work with inflation radius and footprint padding. Be careful wi

Thanks for the answer. We were not using testing at all so I wanted to start testing our code and I thought unit testing

About unit testing in ROS2 - DI, wrappers and code structure. Hi all, Some time ago I used to be responsible of the tes

Hi all,

I am trying to implement unit testing in my ROS2 project. I used to work with python and ROS1, where I had experience with pytest and nose. Now I am using ROS2-foxy, C++ and I've chosen gtest, since it seemed to me the best option (not sure though). Now, I am trying to test a function that has calls to rclcpp Node, since its class inherits from it. I am able to gtest it, but when I bring in gmock, I get tons of linking problems with gtest. Navigating arround, it seems that these linking problems come because gmock brings its own gtest implementation, which may conflict with previous one. However, due to the dependencies of ros-foxy-gtest and ros-foxy-gmock packages with the rest of the ros-foxy packages, I can not remove one of them or even both and execute my own version. I am trying to use known ros2 packages as examples (like rclcpp or even nav2) but I am not able to unlock how they use gmock or how they actually mock these functionalities. Any place where I can find easy examples? Tutorials? any clue? Many thanks

The problem is gmock already comes with a gtest implementation, so adding both in the CMAKE creates a conflict. Hence, i

Can not set breakpoints when debugging ros2 nodes Hi, I am new using debuggers in ros2. I have used previously gdb in c

ROS2 gmock for external libraries Hi all, I am trying to implement unit testing in my ROS2 project. I used to work with

Hey, I am trying to use gmock to mock some calls to rclcpp, something very similar to what you were doing. Did you solve

Hey, I am trying to add gmock to my ros2 development to be able to test classes containing calls to rclcpp functions lik

Fantastic, glad to help. If you think that the answer was good enough, please mark the green tick so that it get ranked

None of the above solutions worked for me. I changed several times the python version and nothing. The only thing that w

Hi, after some tests I have found what it seems a pretty stable version of the system. The key is to use the two IR of t

Hi, after some tests I have found what it seems a pretty stable version of the system. The key is to use the two IR of t

Hi, After some tests I have found what it seems a pretty stable version of the system. The key is to use the two IR of t

Hi, The same happens to me. I am guessing it is a divergence problem of the ufk filter. When visual odometry is lost, t

I have a diff robot, we are working with teb and it works perfectly. I know in the past they tryied dwa and where having

But you said you want to turn over yourself? That's not possible with a non-holonomic robot, is it? A car can not turn o

You should start with the ROS tutorials to understand how topics, services and actions work. Depending on how are you go

My experience with catkin tests is that they have a lot of problems with external resources since they don't load paths

I think your question needs a bit more context. If you are receiving the data from your robot (including x and y) then i

Hi, This behavior is expected since ROS has no way of knowing if your robot is holonomic (all the degrees of movement a

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Hi, yes it is definitely possible. You can set up goals in x,y, theta (from the origin where you started the mission) an

Hi, yes it is definitely possible. You can set up goals in x,y (from the origin where you started the mission) and the r