Probable Adeventure

Structure

The project structure is the following:

• arduino_rover: arduino example that runs the Rover.
• catkin_ws: catkin workspace that contains the ros_rover package.
• examples: arduino examples.
• rosserial_rover: rosserial arduino example.

Compile and run the ROS package

To compile the ROS project run the following commands:

Clone the repository:

cd ~/Documents
$ git clone git@github.com:gadiego92/probable-adventure.git

Compile the workspace using catkin_make command:

$ cd ~/Documents/probable-adventure/catkin_ws
$ catkin_make

Make sure you source your workspace's setup.sh file after calling catkin_make:

$ source ./devel/setup.bash

Running the test

Python Unittest

To run the Python Unittest we use coverage package:

Add the ros_rover path to the PYTHONPATH environment variable:

$ PYTHONPATH=$PYTHONPATH:/home/diego/Documents/probable-adventure/catkin_ws/src/ros_rover

Execute the roscore command:

$ roscore

Run the unit tests using the coverage command:

$ cd ~/Documents/probable-adventure/catkin_ws
$ coverage run src/ros_rover/test/test_remote.py

The output should be similar to this:

test_set_speed (__main__.TestRemote) ... ok
test_set_speed_square (__main__.TestRemote) ... ok
test_set_steering (__main__.TestRemote) ... ok
test_set_steering_theta (__main__.TestRemote) ... ok
test_set_steering_zero (__main__.TestRemote) ... ok

----------------------------------------------------------------------
Ran 5 tests in 0.001s

OK

You can see the coverage of the tests using the following command:

$ coverage html

This command generates a directory with html files where you can see the test's coverage.

ROS Nodes Unittest

To run the ROS Node tests run the following commands:

$ cd ~/Documents/probable-adventure/catkin_ws
$ catkin_make run_tests

The output will show the test results:

[ROSTEST]-----------------------------------------------------------------------

[ros_rover.rosunit-teleop_subscriber_test/test_teleop_topic][passed]

SUMMARY
 * RESULT: SUCCESS
 * TESTS: 1
 * ERRORS: 0
 * FAILURES: 0