DriveBotTest Class Reference

Integration tests for the DriveBot ROS 2 service node. More...

Inheritance diagram for DriveBotTest:

Protected Member Functions
void	SetUp () override
	Sets up the test environment with DriveBot server and test client.
void	TearDown () override
	Tears down the test environment.
template<typename FutureT>
bool	spinUntilComplete (FutureT &future, std::chrono::seconds timeout=std::chrono::seconds(2))
	Spins the executor until a future resolves or timeout elapses.

Protected Attributes
std::shared_ptr< robot_control::ball_chaser::DriveBot >	m_server
	DriveBot service node being tested.
std::shared_ptr< rclcpp::Node >	m_client
	Test client node.
rclcpp::Client< DriveToTarget >::SharedPtr	m_requester
	Client to call the DriveToTarget service.
rclcpp::executors::SingleThreadedExecutor	m_executor
	Executor to spin nodes during tests.

Detailed Description

Integration tests for the DriveBot ROS 2 service node.

Tests verify that the DriveBot service:

• Is properly advertised and discoverable
• Echoes requested velocities in the response
• Publishes velocity commands to /cmd_vel topic

Member Function Documentation

SetUp()

void DriveBotTest::SetUp ( )

inlineoverrideprotected

Sets up the test environment with DriveBot server and test client.

Initializes the DriveBot node, a test client node, creates the service requester, and registers both nodes with the executor.

spinUntilComplete()

template<typename FutureT>

bool DriveBotTest::spinUntilComplete ( FutureT & future, std::chrono::seconds timeout = std::chrono::seconds(2) )

inlineprotected

Spins the executor until a future resolves or timeout elapses.

Template Parameters

FutureT

Type of the future (deduced).

Parameters

future	Future to wait for completion.
timeout	Maximum time to wait (default 2 seconds).

Returns

True if the future completed, false if timeout elapsed.

TearDown()

void DriveBotTest::TearDown ( )

inlineoverrideprotected

Tears down the test environment.

Removes both the server and client nodes from the executor for cleanup.

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The documentation for this class was generated from the following file:

• src/robot_control/tests/integration/ball_chaser/test_drive_bot.cpp