Added Unit Test for Republisher Node on Noetic Branch

.gitignore

@@ -1 +1,6 @@
 __pycache__/
+/inorbit_republisher/test/sample_data/build/
+/inorbit_republisher/test/sample_data/hardcodedRosbag/
+/inorbit_republisher/test/sample_data/install/
+/inorbit_republisher/test/sample_data/log/
+.history/

inorbit_republisher/config/example.yaml

@@ -54,6 +54,16 @@ republishers:
       topic: "/inorbit/custom_data/0"
       key: "navsat"
 
+# Añadido para los tópicos input y output
+- 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"

inorbit_republisher/test/UnitTests/README.md

@@ -0,0 +1,31 @@
+# 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. **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 --rosditro=noetic
+   catkin clean 
+   catkin_build inorbit_republisher --verbose
+2. **Source and Run the Workspace**:
+    ```bash
+    . ~/catkin_ws/devel/setup.bash
+	rostest inorbit_republisher  test_republisher.test
+    ```

inorbit_republisher/test/UnitTests/test_republisher.py

@@ -0,0 +1,39 @@
+#!/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
+from std_msgs.msg import String
+
+class TestRepublisher(unittest.TestCase):
+    def setUp(self):
+        # Method to set up ROS nodes used in this test.
+        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)
+        rospy.sleep(1)
+
+    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))
+        rospy.sleep(1)
+        rospy.loginfo(f"Messages received: {self.received_messages}")
+        self.assertIn(expected_message, self.received_messages)
+
+    def test_no_message(self):
+        # Method to check that self.received_messages is empty at the start of the test.
+        self.assertEqual(len(self.received_messages), 0)
+
+if __name__ == '__main__':
+    import rostest
+    rostest.rosrun('my_ros_package', 'test_republisher', TestRepublisher)

inorbit_republisher/test/UnitTests/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.yaml" />
+  </node>
+
+  <!-- Launch unit test -->
+  <test test-name="test_republisher" pkg="inorbit_republisher" type="test_republisher.py" />
+</launch>