Add automated testing (via catkin_virtualenv) (ros-drivers#136)

Automatically test the code on every push or PR by playing back data to the driver and test whether the expected amount of messages is outputted by the driver and the messages contain the expected data.

The tester can cover more functionality that the current version of the nmea_navsat_driver supports, for these features new PRs will be created. The full usage can be observed in the boschresearch fork.

Signed-off-by: Gabriel Gaessler <[email protected]>

.github/workflows/ci.yaml

@@ -0,0 +1,20 @@
+on: [push, pull_request]
+
+jobs:
+  test:
+    runs-on: [ubuntu-latest]
+    timeout-minutes: 10
+    strategy:
+      matrix:
+        ros_distro: [noetic]
+        ubuntu_distro: [focal]
+        arch: [amd64]
+    steps:
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: ${{ matrix.ros_distro }}
+      - name: build and test
+        uses: ros-tooling/[email protected]
+        with:
+          package-name: nmea_navsat_driver
+          target-ros1-distro: ${{ matrix.ros_distro }}

CMakeLists.txt

@@ -1,7 +1,15 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(nmea_navsat_driver)
 
-find_package(catkin REQUIRED)
+if (NOT CATKIN_ENABLE_TESTING)
+  find_package(catkin REQUIRED COMPONENTS
+  )
+endif()
+if (CATKIN_ENABLE_TESTING)
+  find_package(catkin REQUIRED COMPONENTS
+    catkin_virtualenv
+  )
+endif()
 
 catkin_python_setup()
 catkin_package()
@@ -19,12 +27,28 @@ install(DIRECTORY launch/
    FILES_MATCHING PATTERN "*.launch"
 )
 
-install(FILES LICENSE.txt
+install(FILES
+   LICENSE.txt
+   test/requirements.txt
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 
 if (CATKIN_ENABLE_TESTING)
-  find_package(roslint)
+  catkin_generate_virtualenv(
+    PYTHON_INTERPRETER python3
+  )
+
+  catkin_add_nosetests(
+    test/test_driver.py
+    DEPENDENCIES ${${PROJECT_NAME}_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_virtualenv
+  )
+
+  catkin_install_python(
+    PROGRAMS
+      test/test_driver.py
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+  find_package(roslint REQUIRED)
   roslint_python()
   roslint_add_test()
 endif()

package.xml

@@ -22,15 +22,23 @@
   <exec_depend>rospy</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-serial</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-serial</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-rospkg</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-rospkg</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>nmea_msgs</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
   <exec_depend>tf</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-yaml</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-yaml</exec_depend>
+
+  <test_depend condition="$ROS_PYTHON_VERSION == 3">catkin_virtualenv</test_depend>
 
   <test_depend>roslint</test_depend>
+  <test_depend>rostest</test_depend>
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- This is a pure Python package, so mark it architecture independent -->
     <architecture_independent/>
+    <pip_requirements>test/requirements.txt</pip_requirements>
   </export>
 </package>

test/README.rst

@@ -0,0 +1,16 @@
+nmea_navsat_driver testing
+==========================
+
+This folder contains a tester for the nmea_navsat_driver_package as well as configurations and GNSS device logs for playback.
+
+Configurations
+--------------
+
+* `config_launch.yaml` defines with launch files should be called, which interface they refer to and which messages are in scope. For `serial` a virtual serial port is created and for `tcp` a TCP-server is created.
+* `config_logs.yaml` defines which pre-recorded logs shall be tested in which mode at which speed. And even more important which messages are to be expected from the driver in which quantity and which fields have to stay in which boundaries. These settings determine whether the test will result in pass or fail. Also defines which parameters shall be passed to the launch files.
+* `config_tester.yaml` general settings of the tester.
+
+Running the test
+----------------
+
+The tester can be automatically executed via Github Actions, running the nosetests defined in the CMakeLists.txt eventually calling the rostest. The workflow configuration is therefore located at `.github/workflows/ci.yaml`.

test/configs/config_launch.yaml

@@ -0,0 +1,7 @@
+# list of all launch files to be tested
+nmea_serial_driver.launch:
+  # interface, serial or TCP
+  interface: serial
+  # messages that are supported by this driver configuration
+  messages:
+    - NavSatFix

test/configs/config_log.yaml

@@ -0,0 +1,15 @@
+# list of all raw data logs that shall be tested
+nmea.log:
+  # mode, nmea or binary (u-blox)
+  mode: nmea
+  # rate for nmea mode in lines per second
+  rate: 4
+  # additional parameters to pass to the launch file
+  parameters: []
+  topics:
+    fix:
+      _message_count: 120
+      _type: NavSatFix
+      latitude:
+        max: 48.7734
+        min: 48.7733

test/configs/config_tester.yaml

@@ -0,0 +1,8 @@
+# speedup in comparison to real time playback
+speedup_rate: 20
+# chunksize in bytes to read at once for binary data
+binary_read_len: 10
+# tcp host
+tcp_host: 127.0.0.1
+# tcp port to start with, will increment from here
+tcp_port: 4242