Название: A very informal journey through ROS 2 : patterns, anti-patterns, frameworks and best practices
Автор: Marco Matteo Bassa
Издательство: Leanpub
Год: 2023-05-14
Страниц: 125
Язык: английский
Формат: pdf (true)
Размер: 27.3 MB

This book takes you through the most common patterns and frameworks used by developers while creating software based on ROS 2. It's not a programming guide guiding you through the basic APIs, but is meant to help you organizing complex architectural patterns in robotics. It is written with an informal tone that will hopefully keep you entertained.

A very informal journey through the new edition of the Robot Operative System: ROS 2. This book will bring you through the most common patterns and frameworks used by software engineers while creating software based on this framework. It will try to do that with an informal tone that hopefully won't make you fall asleep in the process.

A convenient way to perform component tests in Python is using Launch testing, a tool that allows the execution of a launch-file in parallel to the tests to be executed. The tests can interact with the processes started by the launch file and can evaluate their output once they have been terminated. To write a test of this kind, we need to implement the method "generate_- test_description", which should return a launch.LaunchDescription object used to launch the node to be tested together with its environment. In addition to this, the function can return a dictionary (the test_context) to be passed to any of the executed tests.

Similarly to what is done in Python, component tests can be written in C++ using the GTests framework introduced in the unit tests section. Before doing this, it must be noted that, the language used to write a component test for a Node, doesn’t need to match the language used to write the node itself. Since these tests communicate to the node using its ROS-interfaces, there’s nothing stopping you from writing Python tests for a C++ node.