Added Unit Test for Republisher Node on Noetic Branch

.gitignore

@@ -1 +1,2 @@
 __pycache__/
+

inorbit_republisher/config/example_unit_test.yaml

@@ -0,0 +1,29 @@
+republishers:
+- topic: "/input_topic"
+  msg_type: "std_msgs/String"
+  mappings:
+  - field: "data"
+    mapping_type: "single_field"
+    out:
+      topic: "/output_topic"
+      key: "input_to_output"
+static_publishers:
+- value_from:
+    package_version: "rospy"
+  out:
+    topic: "/inorbit/custom_data/0"
+    key: "rospy_version"
+- value_from:
+    package_version: "inorbit_republisher"
+  out:
+    topic: "/inorbit/custom_data/0"
+    key: "inorbit_republisher_version"
+- value_from:
+    environment_variable: "PYTHONPATH"
+  out:
+    topic: "/inorbit/custom_data/0"
+    key: "python_path"
+- value: "let's republish in orbit"
+  out:
+    topic: "/inorbit/custom_data/0"
+    key: "greeting"

inorbit_republisher/test/sample_data/README.md

@@ -19,14 +19,30 @@ topics:      /my_magnetic_field   10 msgs    : sensor_msgs/MagneticField
 ```
 
 To validate the node works launch the sample by using the ``sample_data.launch`` launch file and look at ``out`` topic: ``rostopic echo /inorbit/custom_data/0``.
-
-```bash
-. ~/catkin_ws/devel/setup.zsh
-cd ~/catkin_ws/src/inorbit_republisher/test/sample_data
-roslaunch sample_data.launch
+1. **Start ROS2 docker container (optional)**:
+You can run the commands below for building and running the republisher inside a docker container.
+  ```bash
+  docker run -ti --rm \
+    --workdir /root/catkin_ws/ \
+    -v .:/root/catkin_ws/src/inorbit_republisher \
+    osrf/ros:noetic-desktop
+  # Install catkin
+  apt update && apt install python3-catkin-tools python3-osrf-pycommon -y
+  ```
+2. **Build the Workspace**:
+  Ensure the workspace is built and the environment is sourced:
+  ```bash
+  cd ~/catkin_ws
+  rosdep install --from-paths ~/catkin_ws/src --ignore-src --rosdistro=noetic
+  catkin clean 
+  catkin build inorbit_republisher --verbose
+  ```
+3. **Source and Run the Workspace**:
+  ```bash
+  . ~/catkin_ws/install/setup.zsh
+  roslaunch sample_data.launch
 # On a different terminal windows
-source /opt/ros/noetic/setup.bash
-$ rostopic echo my_temperature
+$ rostopic echo /inorbit/custom_data/0
 data: "my_temperature=41.0"
 ---
 data: "my_magnetic_field_x=1.4"
@@ -37,4 +53,4 @@ data: "my_magnetic_field_z=0.6"
 ---
 data: "my_temperature=41.0"
 ...
-```
+```

inorbit_republisher/test/unit_test/README.md

@@ -0,0 +1,41 @@
+# Unit Test for ROS Republisher Node
+
+This repository contains a unit test for a ROS node that republishes messages from `/input_topic` to `/output_topic`. The test ensures the republisher node processes and republishes messages correctly.
+
+## Test Description
+
+The unit test is implemented in `test_republisher.py` and uses the `unittest` framework along with `rostest`. It includes the following test cases:
+
+- **`test_message_republishing`**: 
+  - Publishes a test message (`key=value`) to `/input_topic`.
+  - Verifies that the republisher node republishes the message with the correct prefix (`input_to_output=`) to `/output_topic`.
+
+- **`test_no_message`**:
+  - Ensures that no messages are received on `/output_topic` at the start of the test.
+
+The test subscribes to `/output_topic` and collects received messages for validation.
+
+## Running the Unit Test
+1. **Start ROS2 docker container (optional)**:
+You can run the commands below for building and running the republisher inside a docker container.
+  ```bash
+  docker run -ti --rm \
+    --workdir /root/catkin_ws/ \
+    -v .:/root/catkin_ws/src/inorbit_republisher \
+    osrf/ros:noetic-desktop
+  # Install catkin
+  apt update && apt install python3-catkin-tools python3-osrf-pycommon -y
+  ```
+2. **Build the Workspace**:
+  Ensure the workspace is built and the environment is sourced:
+  ```bash
+  cd ~/catkin_ws
+  rosdep install --from-paths ~/catkin_ws/src --ignore-src --rosdistro=noetic
+  catkin clean 
+  catkin build inorbit_republisher --verbose
+  ```
+3. **Source and Run the Workspace**:
+  ```bash
+  . ~/catkin_ws/devel/setup.bash
+	rostest inorbit_republisher  test_republisher.test
+  ```

inorbit_republisher/test/unit_test/test_republisher.py

@@ -0,0 +1,46 @@
+#!/usr/bin/env python
+# Unit test for a ROS node that republishes messages from /input_topic to /output_topic. 
+# It uses the unittest framework and rostest for testing.
+
+import unittest
+import rospy
+import rostest
+from std_msgs.msg import String
+
+class TestRepublisher(unittest.TestCase):
+    def setUp(self):
+        # Initialize the ROS node for testing
+        rospy.init_node('test_republisher', anonymous=True)
+        self.test_pub = rospy.Publisher('/input_topic', String, queue_size=10)
+        self.received_messages = []
+        rospy.Subscriber('/output_topic', String, self.callback)
+
+        # Safe way to Wait for publisher connections to be established
+        timeout = rospy.get_time() + 5.0  # Timeout limited to 5 seconds
+        rate = rospy.Rate(5) # ROS Rate at 5Hz
+        while self.test_pub.get_num_connections() == 0:
+            if rospy.get_time() > timeout:
+                self.fail("Test setup failed: Publisher connection timeout.")
+            rate.sleep()
+
+    def callback(self, msg):
+        # Method to save messages received on /output_topic.
+        self.received_messages.append(msg.data)
+
+    def test_message_republishing(self):
+        # Method to send a message (key=value) to /input_topic and 
+        # check if the republisher correctly adds the prefix (input_to_output=) and sends it to /output_topic.
+        test_message = "key=value"
+        expected_message = f"input_to_output={test_message}" 
+        rospy.loginfo(f"Publishing: {test_message} to /input_topic")
+        self.test_pub.publish(String(data=test_message))
+        try:
+            msg = rospy.wait_for_message('/output_topic', String, timeout=35)
+            print(f"Received message: {msg.data}")
+        except rospy.ROSException:
+            print("Timeout exceeded while waiting for a message.")
+        rospy.loginfo(f"Messages received: {self.received_messages}")
+        self.assertIn(expected_message, self.received_messages)
+
+if __name__ == '__main__':
+    rostest.rosrun('my_ros_package', 'test_republisher', TestRepublisher)

inorbit_republisher/test/unit_test/test_republisher.test

@@ -0,0 +1,9 @@
+<launch>
+  <!-- Launch republisher node -->
+  <node name="inorbit_republisher" pkg="inorbit_republisher" type="republisher.py">
+    <param name="config" textfile="$(find inorbit_republisher)/config/example_unit_test.yaml" />
+  </node>
+
+  <!-- Launch unit test -->
+  <test test-name="test_republisher" pkg="inorbit_republisher" type="test_republisher.py" />
+</launch>