Making and running tests with ros.
Documentation is not super clear on how to run tests.
nosetests are python tests, and are wrappers around unittest.
Build the tests of a particular package:
catkin_make image_geometry tests
catkin_make run_tests_image_geometry_nosetests
Base path: /home/lucasw/catkin_ws
Source space: /home/lucasw/catkin_ws/src
Build space: /home/lucasw/catkin_ws/build
Devel space: /home/lucasw/catkin_ws/devel
Install space: /home/lucasw/catkin_ws/install
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#### Running command: "make cmake_check_build_system" in "/home/lucasw/catkin_ws/build"
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####
#### Running command: "make run_tests_image_geometry_nosetests -j4 -l4" in "/home/lucasw/catkin_ws/build"
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Scanning dependencies of target run_tests_image_geometry_nosetests_directed.py
-- run_tests.py: execute commands
/usr/bin/cmake -E make_directory /home/lucasw/catkin_ws/build/test_results/image_geometry
/usr/bin/nosetests-2.7 -P --process-timeout=60 /home/lucasw/catkin_ws/src/vision_opencv/image_geometry/test/directed.py --with-xunit --xunit-file=/home/lucasw/catkin_ws/build/test_results/image_geometry/nosetests-directed.py.xml
..
----------------------------------------------------------------------
Ran 2 tests in 0.017s
OK
-- run_tests.py: verify result "/home/lucasw/catkin_ws/build/test_results/image_geometry/nosetests-directed.py.xml"
Built target run_tests_image_geometry_nosetests_directed.py
Scanning dependencies of target run_tests_image_geometry_nosetests
Built target run_tests_image_geometry_nosetests
$ catkin_make run_tests_image_geometry
Base path: /home/lucasw/catkin_ws
Source space: /home/lucasw/catkin_ws/src
Build space: /home/lucasw/catkin_ws/build
Devel space: /home/lucasw/catkin_ws/devel
Install space: /home/lucasw/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/lucasw/catkin_ws/build"
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####
#### Running command: "make run_tests_image_geometry -j4 -l4" in "/home/lucasw/catkin_ws/build"
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[ 0%] [ 0%] Built target sensor_msgs_generate_messages_cpp
Built target geometry_msgs_generate_messages_lisp
[ 0%] Built target std_msgs_generate_messages_cpp
[ 0%] Built target std_msgs_generate_messages_eus
[ 0%] Built target std_msgs_generate_messages_lisp
[ 0%] Built target std_msgs_generate_messages_py
-- run_tests.py: execute commands
/usr/bin/cmake -E make_directory /home/lucasw/catkin_ws/build/test_results/image_geometry
/usr/bin/nosetests-2.7 -P --process-timeout=60 /home/lucasw/catkin_ws/src/vision_opencv/image_geometry/test/directed.py --with-xunit --xunit-file=/home/lucasw/catkin_ws/build/test_results/image_geometry/nosetests-directed.py.xml
[ 0%] Built target sensor_msgs_generate_messages_py
[ 0%] Built target geometry_msgs_generate_messages_cpp
[ 0%] Built target sensor_msgs_generate_messages_eus
[ 0%] Built target sensor_msgs_generate_messages_lisp
[ 0%] Built target geometry_msgs_generate_messages_py
[ 0%] [ 0%] Built target gtest
Built target geometry_msgs_generate_messages_eus
[ 0%] Built target gtest_main
[ 0%] Built target image_geometry
[100%] Built target image_geometry-utest
Scanning dependencies of target run_tests_image_geometry_gtest_image_geometry-utest
-- run_tests.py: execute commands
/home/lucasw/catkin_ws/devel/lib/image_geometry/image_geometry-utest --gtest_output=xml:/home/lucasw/catkin_ws/build/test_results/image_geometry/gtest-image_geometry-utest.xml
[==========] Running 5 tests from 1 test case.
[----------] Global test environment set-up.
[----------] 5 tests from PinholeTest
[ RUN ] PinholeTest.accessorsCorrect
[ OK ] PinholeTest.accessorsCorrect (0 ms)
[ RUN ] PinholeTest.projectPoint
[ OK ] PinholeTest.projectPoint (1 ms)
[ RUN ] PinholeTest.rectifyPoint
[ OK ] PinholeTest.rectifyPoint (65 ms)
[ RUN ] PinholeTest.getDeltas
[ OK ] PinholeTest.getDeltas (0 ms)
[ RUN ] PinholeTest.initialization
[ OK ] PinholeTest.initialization (0 ms)
[----------] 5 tests from PinholeTest (66 ms total)
[----------] Global test environment tear-down
[==========] 5 tests from 1 test case ran. (66 ms total)
[ PASSED ] 5 tests.
-- run_tests.py: verify result "/home/lucasw/catkin_ws/build/test_results/image_geometry/gtest-image_geometry-utest.xml"
[100%] Built target run_tests_image_geometry_gtest_image_geometry-utest
Scanning dependencies of target run_tests_image_geometry_gtest
[100%] Built target run_tests_image_geometry_gtest
..
----------------------------------------------------------------------
Ran 2 tests in 0.015s
OK
-- run_tests.py: verify result "/home/lucasw/catkin_ws/build/test_results/image_geometry/nosetests-directed.py.xml"
[100%] Built target run_tests_image_geometry_nosetests_directed.py
[100%] Built target run_tests_image_geometry_nosetests
Scanning dependencies of target run_tests_image_geometry
[100%] Built target run_tests_image_geometry
Trying to connect to running rostest
In first terminal:
rostest src/image_pipeline/image_proc/test/test_rectify.xml
in second terminal:
export ROS_MASTER_URI=http://127.0.0.1:22422
rostopic list
ERROR: Unable to communicate with master!
The test runs for about 60s then quits in failure.
Put a test into testbot and try again, also on different computer.
Written on March 2, 2016