Ros2 unit test workflow

.github/workflows/run-unit-tests.yaml

@@ -0,0 +1,61 @@
+---
+name: Run unit tests
+
+on:
+  push:
+  workflow_call:
+  workflow_dispatch:
+
+jobs:
+  build-and-test:
+    name: Run unit tests ${{ matrix.build_type }} build type
+    runs-on: ubuntu-22.04
+    strategy:
+      matrix:
+        build_type: [simulation, hardware]
+
+    env:
+      HUSARION_ROS_BUILD_TYPE: ${{ matrix.build_type }}
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - uses: ros-tooling/setup-ros@v0.7
+        with:
+          use-ros2-testing: true
+
+      - name: Build and test
+        uses: ros-tooling/action-ros-ci@v0.3
+        with:
+          vcs-repo-file-url: ${{ github.workspace }}/husarion_ugv/${{ env.HUSARION_ROS_BUILD_TYPE }}_deps.repos
+          target-ros2-distro: humble
+          colcon-defaults: |
+            {
+              "build": {
+                "packages-up-to": ["husarion_ugv"],
+                "cmake-args": ["-DCMAKE_BUILD_TYPE=Release"]
+              },
+              "test": {
+                "packages-up-to": ["husarion_ugv"]
+              }
+            }
+
+        continue-on-error: true
+
+      - name: Retry Build and test (if failed)
+        if: steps.build_test_1.outcome == 'failure'
+        uses: ros-tooling/action-ros-ci@v0.3
+        with:
+          vcs-repo-file-url: ${{ github.workspace }}/husarion_ugv/${{ env.HUSARION_ROS_BUILD_TYPE }}_deps.repos
+          target-ros2-distro: humble
+          colcon-defaults: |
+            {
+              "build": {
+                "packages-up-to": ["husarion_ugv"],
+                "cmake-args": ["-DCMAKE_BUILD_TYPE=Release"]
+              },
+              "test": {
+                "packages-up-to": ["husarion_ugv"]
+              }
+            }

README.md

@@ -115,7 +115,7 @@ Launch arguments are largely common to both simulation and physical robot. Howev
 | ✅   | ✅   | `wheel_config_path`          | Path to wheel configuration file. <br/> ***string:*** [`{wheel_type}.yaml`](./husarion_ugv_description/config)                                                                                                                                                                                                          |
 | ✅   | ✅   | `wheel_type`                 | Specify the wheel type. If the selected wheel type is not 'custom', the wheel_config_path and controller_config_path arguments will be automatically adjusted and can be omitted. <br/> ***string:*** `WH01` (for Panther), `WH05` (for Lynx) (choices: `WH01`, `WH02`, `WH04`, `WH05`, `custom`)                  |
 | ❌   | ✅   | `x`                          | Initial robot position in the global 'x' axis. <br/> ***float:*** `0.0`                                                                                                                                                                                                                                            |
-| ❌   | ✅   | `y`                          | Initial robot position in the global 'y' axis. <br/> ***float:***` -2.0`                                                                                                                                                                                                                                           |
+| ❌   | ✅   | `y`                          | Initial robot position in the global 'y' axis. <br/> ***float:*** `-2.0`                                                                                                                                                                                                                                           |
 | ❌   | ✅   | `z`                          | Initial robot position in the global 'z' axis. <br/> ***float:*** `0.2`                                                                                                                                                                                                                                            |
 | ❌   | ✅   | `roll`                       | Initial robot 'roll' orientation. <br/> ***float:*** `0.0`                                                                                                                                                                                                                                                         |
 | ❌   | ✅   | `pitch`                      | Initial robot 'pitch' orientation. <br/> ***float:*** `0.0`                                                                                                                                                                                                                                                        |
@@ -137,7 +137,16 @@ pre-commit install
 
 ### Unit testing
 
+#### Running on laptop
+
 ```bash
 colcon build --symlink-install --packages-up-to husarion_ugv --cmake-args -DCMAKE_BUILD_TYPE=Release -DTEST_INTEGRATION=OFF
 colcon test --packages-up-to husarion_ugv
 ```
+
+#### Running on the Built-In Computer
+
+```bash
+colcon build --symlink-install --packages-up-to husarion_ugv --cmake-args -DCMAKE_BUILD_TYPE=Release -DTEST_INTEGRATION=ON
+colcon test --packages-up-to husarion_ugv
+```

husarion_ugv_battery/include/husarion_ugv_battery/battery_driver_node.hpp

@@ -38,7 +38,8 @@ class BatteryDriverNode : public rclcpp::Node
 {
 public:
   BatteryDriverNode(
-    const std::string & node_name, const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
+    const std::string & node_name, const std::string & ns = "/",
+    const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
 private:
   void BatteryPubTimerCB();

husarion_ugv_battery/src/battery_driver_node.cpp

@@ -36,8 +36,9 @@ namespace husarion_ugv_battery
 {
 
 BatteryDriverNode::BatteryDriverNode(
-  const std::string & node_name, const rclcpp::NodeOptions & options)
-: Node(node_name, options), diagnostic_updater_(std::make_shared<diagnostic_updater::Updater>(this))
+  const std::string & node_name, const std::string & ns, const rclcpp::NodeOptions & options)
+: Node(node_name, ns, options),
+  diagnostic_updater_(std::make_shared<diagnostic_updater::Updater>(this))
 {
   RCLCPP_INFO(this->get_logger(), "Constructing node.");
 

husarion_ugv_battery/test/utils/test_battery_driver_node.hpp

@@ -103,7 +103,7 @@ TestBatteryNode::TestBatteryNode(const bool use_adc_battery, const bool dual_bat
   options.parameter_overrides(params);
 
   battery_driver_node_ = std::make_shared<husarion_ugv_battery::BatteryDriverNode>(
-    "battery_driver", options);
+    "battery_driver", "/test_battery", options);
 
   battery_sub_ = battery_driver_node_->create_subscription<BatteryStateMsg>(
     "battery/battery_status", 10,
@@ -136,12 +136,14 @@ template <typename T>
 void TestBatteryNode::WriteNumberToFile(const T number, const std::string & file_path)
 {
   std::ofstream file(file_path);
-  if (file.is_open()) {
-    file << number;
-    file.close();
-  } else {
+  if (!file) {
     throw std::runtime_error("Failed to create file: " + file_path);
   }
+
+  file << number;
+  if (!file) {
+    throw std::runtime_error("Failed to write to file: " + file_path);
+  }
 }
 
 #endif  // HUSARION_UGV_BATTERY_UTILS_TEST_BATTERY_DRIVER_NODE_HPP_

husarion_ugv_diagnostics/CMakeLists.txt

@@ -73,7 +73,7 @@ if(BUILD_TESTING)
                             ${PACKAGE_DEPENDENCIES})
 
   # Integration tests
-  option(TEST_INTEGRATION "Run integration tests" ON)
+  option(TEST_INTEGRATION "Run integration tests" OFF)
   if(TEST_INTEGRATION)
     add_ros_test(test/integration/system_monitor_node.test.py)
   endif()