add Integration test node

Author: Roozki

src/integration_test/CMakeLists.txt

@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 3.10)
+project(integration_test)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+add_subdirectory(${CMAKE_CURRENT_LIST_DIR}/../external_pkgs/Catch2 ${CMAKE_CURRENT_BINARY_DIR}/external_pkgs/Catch2) # Include Catch2 for unit tests
+
+include_directories(include/)
+
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rover_utils REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(example_interfaces REQUIRED)
+
+
+add_executable(integration_tester src/assert_node.cpp)
+ament_target_dependencies(integration_tester rclcpp sensor_msgs rover_utils example_interfaces)
+
+target_link_libraries(integration_tester 
+  Catch2::Catch2)
+
+install(
+  TARGETS 
+  integration_tester
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()

src/integration_test/brainstorm.txt

@@ -0,0 +1,4 @@
+How to integration tests?
+
+scopeout:
+1. can catch2 be used? or should not bother?

src/integration_test/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>integration_test</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">rowan</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>rover_utils</depend>
+  <depend>sensor_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/integration_test/src/assert_node.cpp

@@ -0,0 +1,63 @@
+// name?
+
+#include <rclcpp/rclcpp.hpp>
+#include <sensor_msgs/msg/joy.hpp> 
+#include <example_interfaces/msg/int32.hpp> 
+#include <catch2/catch_all.hpp>
+
+// Class definition
+class IntegrationTestNode : public rclcpp::Node {
+public:
+    IntegrationTestNode(); // Constructor is defined in .cpp.
+
+private:
+    // SUBS AND PUBS
+    rclcpp::Publisher<sensor_msgs::msg::Joy>::SharedPtr joy_publisher;
+
+    rclcpp::Publisher<example_interfaces::msg::Int32>::SharedPtr checker_pub;
+    rclcpp::Subscription<example_interfaces::msg::Int32>::SharedPtr checker_sub;
+
+    // Callbacks
+    void test_callback(example_interfaces::msg::Int32 msg);
+
+};    
+
+// Constructor
+IntegrationTestNode::IntegrationTestNode() : Node("integration_test_node") 
+{ // We create a class using rclcpp::Node as a base class. You can still use another base class if you need, albeit sometimes with difficulties in passing args..
+   
+    // Quality of service example
+    auto qos = rclcpp::QoS(rclcpp::KeepLast(1)).transient_local();
+
+    joy_publisher = this->create_publisher<sensor_msgs::msg::Joy>(
+        "/joy", qos);
+
+    checker_pub = this->create_publisher<example_interfaces::msg::Int32>(
+        "/integration/test_int", qos);
+    
+    checker_sub = this->create_subscription<example_interfaces::msg::Int32>(
+        "/integration/test_int", qos, std::bind(&IntegrationTestNode::test_callback, this, std::placeholders::_1));
+
+}
+
+// Main function (entry point of node)
+int main(int argc, char *argv[]) 
+{
+    // Init ros2 with args. 
+   rclcpp::init(argc, argv);
+
+    // Instatiate your node
+    auto node = std::make_shared<IntegrationTestNode>();
+    // Spin it! (this is what runs pubs and subs. This is a blocking function)
+    rclcpp::spin(node);
+    // There is also rclcpp::spinSome(node) if you need more control over when the node spins / need to not block while spinning.
+    
+    // Code only reaches here if we crash or shutdown the node
+    rclcpp::shutdown();
+    return 0;
+}
+
+void IntegrationTestNode::test_callback(example_interfaces::msg::Int32 msg)
+{
+
+}

src/rover_samples/rv_sample_package/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.15)
 project(rv_sample_package)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")