Writing tests for Gazebo-ROS systems
I am building my first Gazebo-ROS system, basically building a robot model, environment in which simulate the robot and then behavior logic to control the robot. I have this structure of packages that contain different parts of the system.
- robot description in URDF
- gazebo files like launch files, worlds
- controler configuration
- navigation algorithms
- gazebo-ros plugins
- teleoperation
etc.
Now I understand from other software development areas that you are supposed to build tests together with your software. I don't have much experience with writing tests for any kind of software and gazebo-ros system seems much more complicated than usual software you would write as a software developer. How do you approach writing tests for your gazebo-ros systems? Are there any good resources, tutorial or something, that would explain step-by-step for a dummy like myself? Are there any standards to follow? And what is the philosophy for testing gazebo-ros systems? What kind of things do we usually want to test?
Thanks for any suggestions.
