Clarify test tutorial (#662)

Author: felixvd

doc/tests/tests_tutorial.rst

@@ -9,13 +9,33 @@ Getting Started
 ---------------
 If you haven't already done so, make sure you've completed the steps in `Getting Started <../getting_started/getting_started.html>`_.
 
-Integration Test
-----------------
+Integration Tests
+-----------------
 
-A Python-based integration test is available for testing higher-level move_group functionality in MoveIt - to run: ::
+Python-based integration tests are available for testing higher-level move_group functionality in MoveIt. To run: ::
 
  rostest moveit_ros_planning_interface python_move_group.test
 
+
+Running Unit Tests
+------------------
+
+To run unit tests locally on the entire MoveIt catkin workspace using catkin-tools: ::
+
+  catkin run_tests -iv
+
+To run a test for just 1 package, `cd` to the package's directory and run::
+
+  catkin run_tests --no-deps --this -iv
+
+To ignore most of the log/print output of the tests::
+
+  catkin run_tests --no-status --summarize --no-deps --this
+
+To run a single test, you can execute the compiled file, e.g. from your catkin workspace::
+
+  ./devel/lib/moveit_core/test_planning_scene
+
 Test Robots
 -----------
 
@@ -31,13 +51,11 @@ From the package `moveit_resources <https://github.com/ros-planning/moveit_resou
 
   roslaunch moveit_resources demo.launch
 
-Unit Tests
-----------
 
 Writing Unit Tests
-~~~~~~~~~~~~~~~~~~
+------------------
 
-The entire test file, with includes, can be seen :codedir:`here <tests>` in the moveit_tutorials GitHub project.
+The file below explains how a test is structured, so you can write your own. The entire test file, with includes, can be seen :codedir:`here <tests>` in the moveit_tutorials GitHub project.
 
 MoveIt uses Google Test as a testing framework.
 
@@ -48,22 +66,6 @@ MoveIt uses Google Test as a testing framework.
 .. tutorial-formatter:: ./test/tests.cpp
 
 
-Running Unit Tests
-~~~~~~~~~~~~~~~~~~
-
-To run unit tests locally on the entire MoveIt catkin workspace using catkin-tools: ::
-
-  catkin run_tests -iv
-
-To run a test for just 1 package::
-
-  catkin run_tests --no-deps --this -iv
-
-To ignore most of the log/print output of the tests::
-
-  catkin run_tests --no-status --summarize --no-deps --this
-
-
 Code Coverage
 -------------