ROS Testing Examples

Example packages demonstrating integration testing patterns for ROS1 and ROS2 robot navigation.

This repository shows how to:

• Write integration tests for ROS action servers
• Use GTest (C++) and rostest (Python) testing frameworks
• Test waypoint navigation with pass/fail conditions

Packages

Package	ROS Version	Robot	Language
fastbot_waypoints	ROS2 (Galactic/Humble)	FastBot	C++
tortoisebot_waypoints	ROS1 (Noetic)	TortoiseBot	Python

Overview

Both packages provide:

• Waypoint Action Server - Navigates robot to target X, Y coordinates
• Integration Tests - Verify robot reaches target position and orientation
• Pass/Fail Modes - Easily switch between passing and failing test conditions

Quick Start

FastBot (ROS2)

# Terminal 1: Gazebo simulation
source ~/ros2_ws/install/setup.bash
ros2 launch fastbot_gazebo one_fastbot_room.launch.py

# Terminal 2: Action server
source ~/ros2_ws/install/setup.bash
ros2 run fastbot_waypoints fastbot_action_server

# Terminal 3: Run tests
cd ~/ros2_ws && colcon build && source install/setup.bash
colcon test --packages-select fastbot_waypoints --event-handler=console_direct+
colcon test-result --all

TortoiseBot (ROS1)

# Terminal 1: Gazebo simulation
source /opt/ros/noetic/setup.bash
roslaunch tortoisebot_gazebo tortoisebot_playground.launch

# Terminal 2: Action server
source ~/catkin_ws/devel/setup.bash
rosrun tortoisebot_waypoints waypoint_action_server.py

# Terminal 3: Run tests
cd ~/catkin_ws && catkin_make && source devel/setup.bash
rostest tortoisebot_waypoints waypoint_test.test --reuse-master

Switching Between Pass/Fail Conditions

FastBot (C++)

Edit fastbot_waypoints/test/test_waypoint_reached.cpp:

// Passing: reachable targets
constexpr Waypoint2D TARGET_1 = {1.0, 1.0};
constexpr Waypoint2D TARGET_2 = {1.5, 1.5};

// Failing: unreachable targets
constexpr Waypoint2D TARGET_1 = {-5.0, -5.0};
constexpr Waypoint2D TARGET_2 = {-5.0, -5.0};

TortoiseBot (Python)

Edit tortoisebot_waypoints/test/waypoint_test.test:

<!-- Passing -->
<arg name="target_x" default="0.5" />
<arg name="target_y" default="0.5" />

<!-- Failing -->
<arg name="target_x" default="2.0" />
<arg name="target_y" default="2.0" />

Expected Results

Condition	FastBot (ROS2)	TortoiseBot (ROS1)
Passing	3 tests, 0 errors, 0 failures	2 tests, 0 errors, 0 failures
Failing	2 tests, 1 errors, 1 failures	1 tests, 1 errors, 0 failures

See Also

• fastbot_waypoints/README.md - Detailed FastBot instructions
• tortoisebot_waypoints/README.md - Detailed TortoiseBot instructions

License

MIT License © 2026 Dmitri Manajev