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Requirements for Kilted #1560
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b44d11e
Update README
Yadunund 5839531
Copy jazzy config to kilted
Yadunund 577696f
Add zenoh to rmw dimensions
Yadunund be4d477
Switch docs.ros.org links to kilted and update RMW implementation req…
Yadunund 04e10c0
Add note on starting zenoh router
Yadunund 5c7000b
Update Demos in docs.ros.org requirements to include action introspec…
Yadunund 7638a66
Remove demo on ros1 bridge
Yadunund 79c47ef
Fix a few cpp links (#1561)
mjcarroll f5bf476
Update README.md
mjcarroll 4e797d2
Fix intermediate tf2 tutorials in docs
Yadunund 61da21a
Remove ROS 1 bridge from features-executable-from-links
Yadunund 4c04186
update turtlesim interface package with turtlesim_msgs (#1693)
ahcorde edac293
Add note to skip tab completion cli test on Windows
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,218 @@ | ||
| requirements: | ||
| - name: ros2cli on a local machine | ||
| description: | | ||
| Test the basic functionality of the ros2cli package family | ||
| labels: | ||
| - ros2cli | ||
| - local | ||
| - core | ||
| links: | ||
| - name: Repo URL | ||
| url: https://github.com/ros2/ros2cli | ||
| checks: | ||
| - name: Help text | ||
| description: | | ||
| Long-form help text should be available when invoking `ros2 --help` as well as `ros2 <command> --help` | ||
| try: | ||
| - stdin: ros2 -h | ||
| - stdin: ros2 --help | ||
| - stdin: ros2 topic -h | ||
| - stdin: ros2 topic --help | ||
| expect: | ||
| - note: Long-form help is available. | ||
| - name: Tab completion | ||
| description: | | ||
| When using a supported shell (i.e. bash), tab completion should work for both the bare executable to list commands and for listing sub-commands, like `ros2 <tab>` or `ros2 <command> tab` | ||
| try: | ||
| - stdin: ros2 <tab><tab> | ||
| note: Lists the commands | ||
| - stdin: ros2 lau<tab> | ||
| note: Completes the word `launch` | ||
| - stdin: ros2 launch dem<tab> | ||
| note: Completes until `demo_nodes_` | ||
| - stdin: ros2 launch demo_nodes_c<tab> | ||
| note: Completes the package `demo_nodes_cpp` | ||
| - stdin: ros2 launch demo_nodes_cpp <tab><tab> | ||
| note: Lists launch files in `demo_nodes_cpp` | ||
| - stdin: ros2 launch demo_nodes_cpp ta<tab> | ||
| note: Suggests the launch files name `talker_listener` | ||
| - stdin: ros2 launch demo_nodes_cpp talker_listener_<tab><tab> | ||
| note: Lists several launch files that start with `talker_listener` | ||
| - stdin: ros2 launch demo_nodes_cpp talker_listener_launch.p<tab> | ||
| note: Completes the launch files name `talker_listener_launch.py` | ||
| expect: | ||
| - stdin: ros2 launch demo_nodes_cpp talker_listener_launch.py | ||
| note: You eventually get to the full command | ||
| - name: Node discovery | ||
| description: | | ||
| With another node running, use `ros2 node list` to ensure that the expected node is listed. Then stop the node and ensure that the list operation no longer shows the node. | ||
| try: | ||
| - stdin: ros2 launch demo_nodes_cpp talker_listener_launch.py | ||
| terminal: 1 | ||
| - stdin: ros2 node list | ||
| terminal: 2 | ||
| expect: | ||
| - stdout: | | ||
| /listener | ||
| /talker | ||
| terminal: 2 | ||
| - name: Topic discovery | ||
| description: | | ||
| With another node running, use `ros2 topic list` to ensure that the expected topics are listed. Then stop the node and ensure that the list operation no longer shows the node's topics. | ||
| try: | ||
| - stdin: ros2 launch demo_nodes_cpp talker_listener_launch.py | ||
| terminal: 1 | ||
| - stdin: ros2 topic list | ||
| terminal: 2 | ||
| expect: | ||
| - stdout: | | ||
| /chatter | ||
| /parameter_events | ||
| /rosout | ||
| terminal: 2 | ||
| - name: Service discovery | ||
| description: | | ||
| With another node running, use `ros2 service list` to ensure that the expected services are listed. Then stop the node and ensure that the list operation no longer shows the node's services. | ||
| try: | ||
| - stdin: ros2 run demo_nodes_cpp add_two_ints_server | ||
| terminal: 1 | ||
| - stdin: ros2 service list | ||
| terminal: 2 | ||
| expect: | ||
| - stdout: | | ||
| /add_two_ints | ||
| /add_two_ints_server/describe_parameters | ||
| /add_two_ints_server/get_parameter_types | ||
| /add_two_ints_server/get_parameters | ||
| /add_two_ints_server/get_type_description | ||
| /add_two_ints_server/list_parameters | ||
| /add_two_ints_server/set_parameters | ||
| /add_two_ints_server/set_parameters_atomically | ||
| terminal: 2 | ||
| - name: Parameter discovery | ||
| description: | | ||
| With another node running, use `ros2 param list` to ensure that the expected parameters are listed. Then stop the node and ensure that the list operation no longer shows the node's parameters. | ||
| try: | ||
| - stdin: ros2 run turtlesim turtlesim_node | ||
| terminal: 1 | ||
| - stdin: ros2 param list | ||
| terminal: 2 | ||
| expect: | ||
| - stdout: | | ||
| /turtlesim: | ||
| background_b | ||
| background_g | ||
| background_r | ||
| holonomic | ||
| qos_overrides./parameter_events.publisher.depth | ||
| qos_overrides./parameter_events.publisher.durability | ||
| qos_overrides./parameter_events.publisher.history | ||
| qos_overrides./parameter_events.publisher.reliability | ||
| start_type_description_service | ||
| use_sim_time | ||
| terminal: 2 | ||
| - name: ros2cli network tests | ||
| description: | | ||
| Test the basic functionality of the ros2cli package family in an environment where nodes are running on other machines on the network. | ||
| labels: | ||
| - ros2cli | ||
| - core | ||
| links: | ||
| - name: Repo URL | ||
| url: https://github.com/ros2/ros2cli | ||
| checks: | ||
| - name: Node discovery | ||
| description: | | ||
| With another node running, use `ros2 node list` to ensure that the expected node is listed. Then stop the node and ensure that the list operation no longer shows the node. | ||
| - name: Topic discovery | ||
| description: | | ||
| With another node running, use `ros2 topic list` to ensure that the expected topics are listed. Then stop the node and ensure that the list operation no longer shows the node's topics. | ||
| - name: Service discovery | ||
| description: | | ||
| With another node running, use `ros2 service list` to ensure that the expected services are listed. Then stop the node and ensure that the list operation no longer shows the node's services. | ||
| - name: Parameter discovery | ||
| description: | | ||
| With another node running, use `ros2 param list` to ensure that the expected parameters are listed. Then stop the node and ensure that the list operation no longer shows the node's parameters. | ||
| - name: Rviz | ||
| description: | | ||
| This is a sanity check to ensure that the GUI tools aren't fundamentally broken. | ||
| labels: | ||
| - rviz | ||
| - visualization | ||
| - core | ||
| links: | ||
| - name: Repo URL | ||
| url: https://github.com/ros2/rviz | ||
| checks: | ||
| - name: Check Rviz | ||
| description: | | ||
| Launch using the `rviz2` command. | ||
|
|
||
| The rviz window should be generally usable and should be able to load some of the discovered visualizations. | ||
|
|
||
| Loading visualizations into the tree and using the mouse to navigate through the virtual workspace is sufficient for this test. | ||
| try: | ||
| - stdin: ros2 launch dummy_robot_bringup dummy_robot_bringup_launch.py | ||
| terminal: 1 | ||
| - stdin: rviz2 | ||
| terminal: 2 | ||
| - note: In RViz, in the left pane, click 'Add'. A window will pop up. In that window, under 'rviz_default_plugins', select 'TF' and click 'OK'. Under 'Displays', in the 'Global Options' section, change the 'Fixed Frame' to '/world'. | ||
| - note: In RViz, in the left pane, click 'Add'. A window will pop up. In that window, under 'rviz_default_plugins', select 'LaserScan' and click 'OK'. Under 'Displays', in the 'LaserScan' section, change the 'Topic' to '/scan'. | ||
| expect: | ||
| - note: You should see the dummy robot's kinematic tree waving back and forth in the rviz window. | ||
| - note: You should see a laser scan emitting from the waving end of the dummy robot. | ||
| - note: Play around, move the camera, enable and disable things in the 'Displays' pane. RViz should be stable. | ||
| - name: RQT | ||
| description: | | ||
| This is a sanity check to ensure that the GUI tools aren't fundamentally broken. | ||
| labels: | ||
| - rqt | ||
| - visualization | ||
| - core | ||
| links: | ||
| - name: Repo URL | ||
| url: https://github.com/ros-visualization/rqt | ||
| checks: | ||
| - name: Check RQT | ||
| description: | | ||
| Launch using the `rqt` command. | ||
|
|
||
| The rqt window should be generally usable and should be able to populate some of the discovered plugins. | ||
| try: | ||
| - stdin: ros2 launch dummy_robot_bringup dummy_robot_bringup_launch.py | ||
| terminal: 1 | ||
| - stdin: rqt | ||
| terminal: 2 | ||
| - note: In the RQT window, select 'Plugins > Visualization > Plot' in the dropdown menu. In the window that opens, set the Topic to `/joint_states/position[0]`. You should see a Sine wave. | ||
| - note: With 'Plugins > Introspection > Node Graph' you should see a network of the nodes and topics that are being published and subscribed by the dummy robot. | ||
| - note: With 'Plugins > Logging > Bag' you should be able record a ROS Bag file. | ||
| - note: With 'Plugins > Topic > Topic Monitor' you should be able to check the `/joint_states` topic and view messages streaming in. | ||
| expect: | ||
| - note: Rqt runs smoothly and the plugins work as expected. | ||
| - name: Installation instructions | ||
| labels: | ||
| - installation | ||
| - core | ||
| description: | | ||
| Follow the official installation instructions for the platform. If instructions have not been published for the platform, use the instructions for Rolling Ridley. | ||
|
|
||
| For source build platforms, this includes the installation of dependencies and building the packages. | ||
| links: | ||
| - name: Installation instructions | ||
| url: https://docs.ros.org/en/kilted/Installation.html | ||
| checks: | ||
| - name: Install works | ||
| - name: Local workspace overlay | ||
| labels: | ||
| - overlays | ||
| - core | ||
| description: | | ||
| Build a package in a local workspace which depends on packages supplied for the platform. | ||
|
|
||
| Run the tests for the package - all of them should pass. | ||
|
|
||
| For source platforms, this means building the candidate package in a separate workspace from the one used in the installation instructions. | ||
|
|
||
| TODO: Create a "dummy" package that ensures that we can target other packages using CMake, link against them, and run executables (tests) that are linked against libraries in the main workspace. | ||
| checks: | ||
| - name: Local workspace overlay works |
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