System Tests

The package provides tests for components, subsystems and full system integration.

Unit tests are not included, these should be provided within each component or package.

1. Component Testing

Test a component's ROS API (Pub/Sub/Service).

• Global Planning

• Controller

• Localization

• World Model

• Costmaps

2. Subsystem Testing

Test the integration of several components and subsystems.

• Support modules (Mapping, Perception, Prediction, Localization

• Navigation core (Navigator, Planner, Controller)

• Support modules and navigation core

• Command chain (Mission Planning, Mission Execution, Navigation System, Robot Interface)

3. System Testing

Test the lifecycle startup and shutdown of nodes.

• Updown Test

Test the integration of all subsystems.

• System Test