Capabilities features can be tested using the provided test scripts. The test scripts primarily test the capabilities2 server using service clients. Launch the capabilities2 server before running the test scripts information here. The test scripts are written to test against the std_capabilities package. Make sure that the std_capabilities package is copied along with the capabilities2 package to the capabilities2_ws/src folder and is built and sourced before running the test scripts.
Note: The test scripts use the
bondbypackage. Make sure to install thebondpypackage before running the test scripts. sudo apt install ros-$ROS_DISTRO-bondy
Run the tests with python3. The test scripts are located in the capabilities2_server/test directory. Make sure to source the workspace before running the test.
# example
python3 call_establish_bond.py| Test Script | Description |
|---|---|
| call_establish_bond.py | Test establishing a bond. ctrl-C to kill the bond |
| call_get_interfaces.py | Test getting all loaded interfaces |
| call_get_providers.py | Test getting loaded providers for the empty interface |
| call_get_semantic_interfaces.py | Get loaded semantic interfaces |
| call_get_specs.py | Get all the loaded spec files |
| call_register_cap.py | Register a new specification file |
There is another test script in the capabilities2_launch_proxy package that tests using a capability.
| Test Script | Description |
|---|---|
| call_use_launch_runner.py | Test using a launch runner based capability. This tests the bond, use, and get running features of the capabilities server |