Testing of a Yocto image

[vermaete]

Hi,

Is there somewhere documentation to be found how to test an Yocto image with meta-ros?
Kind of what's done when making a release?

I assume ptest of Yocto is not - yet- used?

Br

[robwoolley]

These are the old testing instructions that were used for the last Milestone: https://github.com/ros/meta-ros/wiki/OpenEmbedded-Build-Instructions#image-sanity-testing The runtime testing was focused on the supported hardware: qemux86 and raspberrypi4

In our working group meeting last week, I demonstrated going through the Beginner Tutorials from the ROS2 Rolling documentation: https://docs.ros.org/en/rolling/Tutorials.html Some documentation is needed to make it easier to build an image with all the necessary parts. Specifically, adding a packagegroup for the developer tools and creating a kas configuration that enables the LXQt desktop. This is the local.conf that I used: https://gist.github.com/robwoolley/9a3b3c3c812d5bca8a9112725b75bc37

Regarding automated testing, I have recently started looking at how we could add ptest support. Our superflore tool already adds ROS_TEST_DEPENDS to the generated recipes but there is nothing using the variable. There seem to be enough ROS 2 packages that implement testing that we wouldn't want to add support manually. I think modifying the ROS base classes to detect ament-cmake-gtest in test_depends and inherit a new ROS class to conditionally set EXTRA_OECMAKE += "-DBUILD_TESTING=ON" might be the way to go. I assume that people would prefer testing to be disabled by default and enabled through an IMAGE_FEATURE.

Ideally, I would like to use it in combination with runqemu so that we could automate start up a QEMU session and run all the ptests and gather the results periodically. I would also like to gather results from the community for any on-target testing on hardware to demonstrate that it works on whatever board they choose.

I'm looking for feedback if you have any suggestions on what you think we should do.