General information about this repository, including legal information, build instructions and known issues/limitations, are given in README.md in the repository root.

The self_test package

This package can be used to implement self tests for ROS packages.

Overview

It publishes a service for the node to call to perform the self test. This then performs multiple user-defined checks on the node and reports the results.

Example

The file selftest_example.cpp contains an example of how to use the self_test package.

When we then call $ ros2 run self_test run_selftest we get the following output:

[INFO] [...] [...]: Self test FAILED for device with id: [12345]
[INFO] [...] [...]: 1) Pretest
[INFO] [...] [...]: 	Pretest completed successfully.
[INFO] [...] [...]: 2) ID Lookup
[INFO] [...] [...]: 	ID Lookup successful
[INFO] [...] [...]: 3) Exception generating test
[ERROR] [...] [...]: 	Uncaught exception: we did something that threw an exception
[INFO] [...] [...]: 4) Value generating test
[INFO] [...] [...]: 	We successfully changed the value.
[INFO] [...] [...]: 	[some value] 42
[INFO] [...] [...]: 5) Value testing test
[INFO] [...] [...]: 	We observed the change in value

C++ API

The TestRunner class is the main class for self tests. It has a method _add which must be used to add the specific test as callback methods. The TestRunner then advertises the relevant self_test service and calls the aforemntioned callbacks when requested.

Nodes

run_selftest

This node is used to call the self test service.

Changelog for package self_test

4.3.6 (2025-05-26)

• C++17 and cmake 3.20 everywhere (#510)
• Contributors: Christian Henkel

4.3.5 (2025-05-26)

• Use target_link_libraries instead of ament_target_dependencies (#507)
• Contributors: Christoph Fröhlich

4.3.4 (2025-05-12)

• Kilted dep fix (#474)
• Contributors: David V. Lu, Christian Henkel

4.3.2 (2025-02-10)

4.3.1 (2024-07-30)

3.2.1 (2024-06-27)

• Building in docker (#335)
• Contributors: Christian Henkel

3.2.0 (2024-03-22)

• Self test publishes the service under the node name, again (#269)
• Contributors: Christian Henkel

3.1.2 (2023-03-24)

3.1.1 (2023-03-16)

• Secretly supporting galactic (#295)
• exporting includes (#292)
• Maintainer update
• Contributors: Austin, Christian Henkel, Ralph Lange

3.1.0 (2023-01-26)

• Merge of foxy and humble history into rolling for future maintenance from one branch only.
• Adding READMEs to the repo (#270)
• License fixes (#263)
• Fix/cleanup ros1 (#257)
• Contributors: Austin, Christian Henkel, Ralph Lange

3.0.0 (2022-06-10)

• Return the actual future from async_send_request (#209)
• Contributors: Chris Lalancette

2.1.3 (2021-08-03)

2.1.2 (2021-03-03)

2.1.1 (2021-01-28)

2.1.0 (2021-01-12)

• Update to latest ros2 rolling. (#177)

* Contributors: Karsten Knese 2.0.9 (2022-11-12) ------------------

2.0.8 (2021-08-03)

2.0.7 (2021-03-04)

2.0.6 (2021-01-28)

2.0.5 (2021-01-06)

2.0.4 (2020-08-05)

2.0.3 (2020-07-09)

2.0.2 (2020-06-03)

• 2.0.2 Signed-off-by: Karsten Knese <<karsten.knese@us.bosch.com>>
• generate changelog Signed-off-by: Karsten Knese <<karsten.knese@us.bosch.com>>
• fix linters (#134) Signed-off-by: Karsten Knese <<karsten.knese@us.bosch.com>>
• Contributors: Karsten Knese

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