Functions
None	test_xacro_expansion (ET.Element urdf_root)

None	test_urdf_has_required_links (ET.Element urdf_root)

None	test_urdf_has_required_joints (ET.Element urdf_root)

None	test_wheel_joints_are_continuous (ET.Element urdf_root)

None	test_fixed_joints_are_fixed (ET.Element urdf_root)

None	test_ros2_control_block_present (ET.Element urdf_root)

None	test_ros2_control_joints_have_velocity_interface (ET.Element urdf_root)

Detailed Description

@brief Integration tests that validate the expanded robot URDF structure.

Verifies that xacro expansion succeeds and that the resulting URDF contains
the expected links, joints, joint types, and ros2_control configuration.

Function Documentation

◆ test_fixed_joints_are_fixed()

None test_urdf_valid.test_fixed_joints_are_fixed ( ET.Element urdf_root )

@brief Test that all non-driven joints are fixed type.

◆ test_ros2_control_block_present()

None test_urdf_valid.test_ros2_control_block_present ( ET.Element urdf_root )

@brief Test that the ros2_control block exists and references the correct joints.

◆ test_ros2_control_joints_have_velocity_interface()

None test_urdf_valid.test_ros2_control_joints_have_velocity_interface ( ET.Element urdf_root )

@brief Test that ros2_control wheel joints expose a velocity command interface.

◆ test_urdf_has_required_joints()

None test_urdf_valid.test_urdf_has_required_joints ( ET.Element urdf_root )

@brief Test that the expanded URDF contains all required joints.

◆ test_urdf_has_required_links()

None test_urdf_valid.test_urdf_has_required_links ( ET.Element urdf_root )

@brief Test that the expanded URDF contains all required links.

◆ test_wheel_joints_are_continuous()

None test_urdf_valid.test_wheel_joints_are_continuous ( ET.Element urdf_root )

@brief Test that driven wheel joints are continuous type.

◆ test_xacro_expansion()

None test_urdf_valid.test_xacro_expansion ( ET.Element urdf_root )

@brief Test that xacro expansion produces a non-empty robot element.

Functions