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Turtlesim Demo Project

This project demonstrates how to run a basic ros2 end to end tests in simulation (here turtlesim).

Prerequisite

You will need ROS2 galactic or humble installed.

See instructions here

ROS2 tests

You can run the tests with:

launch_test launch_turtle.py

As it is, the test will fail.

If you take a look at the code, you should be able to find what is wrong and make the test pass.

Tests with ArtefactsCI

You can use one of the 2 options below.

With local ROS2 install

Additionally, you can use ArtefactsCI to keep track of your tests results.

  1. Create an account and project on ArtefactsCI

  2. Install the artefacts client

pip install artefacts-client --extra-index-url https://d5cw4z7oemmfd.cloudfront.net/pep503/ -U

  1. Edit the project name in artefacts.yaml

  2. Run the tests with tracking enabled

artefacts run basic_tests

Using Docker

Tests on MacOS and Ubuntu 20 often require explictly authorizing access to X11:

[MacOS] xhost +127.0.0.1: This will start an X11 server if needed, and allow the container to connect.
[Ubuntu 20] xhost +local:docker

Then build and run the docker container:

git clone [email protected]:art-e-fact/warp-client.git
docker build -t turtle2 .
docker run --env ARTEFACTS_KEY=[YOUR-API-KEY] --net host --env DISPLAY=$DISPLAY -v $(pwd):/turtle turtle2