🔥 pyrostest 🔥

The most 🔥 lit 🔥 ros testing framework.

Pyrostest is a (more) pythonic framework for writing ros tests.

Why pyrostest?

Writing rostests and rostunit tests is annoying. You have to write launch files for all of your tests and then do strange things in your unittests and then somehow the rostests and unittests will communicate. To be honest, I never could get rostest to work. So I built something better. pyrostest allows you to test your ros nodes in pure python, no need for xml files.

Usage

Here's a minimal example of a pyrostest test. Assume you have a ros node, add_one in the ros package pkg. The node subscribes to input, a Float64 message, and published to output, another Float64, it adds one to the input and publishes it. This would test that functionality

from pyrostest import RosTest, launch_node, mock_node
from std_msgs.msg import Float64

class TestAddOne(RosTest):
    @launch_node('pkg', 'add_one')
    def test_add_one(self):
        with self.mock_pub('/input', Float64, queue_size=0) as p:
            with self.check_topic('/output', Float64) as r:
                p.send(Float64(7))
                assert r.message.data == 8  # or self.assertEqual

This code will spin up an isolated instance of Roscore, as well as all of the nodes needed for testing. It will then publish the float 7, and wait until the data has been recieved, and assert about its value.