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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.

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.