robotics-testing

Name: robotics-testing
Author: arpitg1304

320stars44forks

How to install robotics-testing?

arpitg1304/robotics-agent-skills/robotics-testing

$npx -y skills add arpitg1304/robotics-agent-skills --skill robotics-testing

Installs into the current project.

Summary

Testing strategies, patterns, and tools for robotics software. Use this skill when writing unit tests, integration tests, simulation tests, or hardware-in-the-loop tests for robot systems. Trigger whenever the user mentions testing ROS nodes, pytest with ROS, launch_testing, simu

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SKILL.md

1	# Robotics Testing Skill
2
3	## When to Use This Skill
4	- Writing unit tests for ROS1/ROS2 nodes
5	- Setting up integration tests with launch_testing
6	- Mocking hardware (sensors, actuators) for CI/CD
7	- Building simulation-based test suites
8	- Testing perception pipelines with ground truth
9	- Validating trajectory planners and controllers
10	- Setting up CI/CD pipelines for robotics packages
11	- Debugging flaky tests in robotics systems
12
13	## The Robotics Testing Pyramid
14
15	```
16	╱╲
17	╱ ╲ Field Tests
18	╱ ╲ (Real robot, real environment)
19	╱──────╲
20	╱ ╲ Hardware-in-the-Loop (HIL)
21	╱ ╲ (Real hardware, controlled environment)
22	╱────────────╲
23	╱ ╲ Simulation Tests
24	╱ ╲ (Full sim, realistic physics)
25	╱──────────────────╲
26	╱ ╲ Integration Tests
27	╱ ╲ (Multi-node, message passing)
28	╱────────────────────────╲
29	╱ ╲ Unit Tests
30	╱____________________________╲ (Single function/class, fast, deterministic)
31
32	MORE tests at the bottom, FEWER at the top.
33	Bottom = fast, cheap, deterministic. Top = slow, expensive, realistic.
34	```
35
36	## Unit Testing Patterns
37
38	### Testing ROS2 Nodes with pytest
39
40	```python
41	# test_perception_node.py
42	import pytest
43	import rclpy
44	from rclpy.node import Node
45	from sensor_msgs.msg import Image
46	from my_pkg.perception_node import PerceptionNode
47	import numpy as np
48
49	@pytest.fixture(scope='module')
50	def ros_context():
51	"""Initialize ROS2 context once per test module"""
52	rclpy.init()
53	yield
54	rclpy.shutdown()
55
56	@pytest.fixture
57	def perception_node(ros_context):
58	"""Create a fresh perception node for each test"""
59	node = PerceptionNode()
60	yield node
61	node.destroy_node()
62
63	@pytest.fixture
64	def test_image():
65	"""Generate a synthetic test image"""
66	msg = Image()
67	msg.height = 256
68	msg.width = 256
69	msg.encoding = 'rgb8'
70	msg.step = 256 * 3
71	msg.data = np.random.randint(0, 255, (256, 256, 3),
72	dtype=np.uint8).tobytes()
73	return msg
74
75	class TestPerceptionNode:
76
77	def test_initialization(self, perception_node):
78	"""Node should initialize with correct default parameters"""
79	assert perception_node.get_parameter('confidence_threshold').value == 0.7
80	assert perception_node.get_parameter('rate_hz').value == 30.0
81
82	def test_parameter_validation(self, perception_node):
83	"""Node should reject invalid parameter values"""
84	from rcl_interfaces.msg import SetParametersResult
85	result = perception_node.set_parameters([
86	rclpy.parameter.Parameter('confidence_threshold',
87	value=-0.5) # Invalid!
88	])
89	assert not result[0].successful
90
91	def test_image_callback_publishes_detections(self, perception_node, test_image):
92	"""Processing an image should produce detection output"""
93	received = []
94
95	# Create a test subscriber
96	sub_node = Node('test_subscriber')
97	sub_node.create_subscription(
98	DetectionArray, '/perception/detections',
99	lambda msg: received.append(msg), 10)
100
101	# Simulate image callback
102	perception_node.image_callback(test_image)
103
104	# Spin briefly to allow message propagation
105	rclpy.spin_once(sub_node, timeout_sec=1.0)
106	rclpy.spin_once(perception_node, timeout_sec=1.0)
107
108	# Verify
109	assert len(received) > 0
110	sub_node.destroy_node()
111
112	def test_empty_image_handling(self, perception_node):
113	"""Node should handle empty/corrupted images gracefully"""
114	empty_msg = Image() # No data
115	# Should not crash
116	perception_node.image_callback(empty_msg)
117	```
118
119	### Testing Pure Functions (No ROS Dependency)
120
121	```python
122	# test_kinematics.py
123	import pytest
124	import numpy as np
125	from my_pkg.kinematics import (
126	forward_kinematics, inverse_kinematics,
127	quaternion_multiply, transform_point
128	)
129
130	class TestForwardKinematics:
131
132	@pytest.mark.parametrize("joint_angles,expected_pos", [
133	# Home position
134	(np.zeros(7), np.array([0.088, 0.0, 1.033])),
135	# Known calibrated pose
136	(np

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robotics-testing

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View on GitHub

How to install robotics-testing?

arpitg1304/robotics-agent-skills/robotics-testing

$npx -y skills add arpitg1304/robotics-agent-skills --skill robotics-testing

Installs into the current project.

Summary

Files · 1

View on GitHub

SKILL.md

1	# Robotics Testing Skill
2
3	## When to Use This Skill
4	- Writing unit tests for ROS1/ROS2 nodes
5	- Setting up integration tests with launch_testing
6	- Mocking hardware (sensors, actuators) for CI/CD
7	- Building simulation-based test suites
8	- Testing perception pipelines with ground truth
9	- Validating trajectory planners and controllers
10	- Setting up CI/CD pipelines for robotics packages
11	- Debugging flaky tests in robotics systems
12
13	## The Robotics Testing Pyramid
14
15	```
16	╱╲
17	╱ ╲ Field Tests
18	╱ ╲ (Real robot, real environment)
19	╱──────╲
20	╱ ╲ Hardware-in-the-Loop (HIL)
21	╱ ╲ (Real hardware, controlled environment)
22	╱────────────╲
23	╱ ╲ Simulation Tests
24	╱ ╲ (Full sim, realistic physics)
25	╱──────────────────╲
26	╱ ╲ Integration Tests
27	╱ ╲ (Multi-node, message passing)
28	╱────────────────────────╲
29	╱ ╲ Unit Tests
30	╱____________________________╲ (Single function/class, fast, deterministic)
31
32	MORE tests at the bottom, FEWER at the top.
33	Bottom = fast, cheap, deterministic. Top = slow, expensive, realistic.
34	```
35
36	## Unit Testing Patterns
37
38	### Testing ROS2 Nodes with pytest
39
40	```python
41	# test_perception_node.py
42	import pytest
43	import rclpy
44	from rclpy.node import Node
45	from sensor_msgs.msg import Image
46	from my_pkg.perception_node import PerceptionNode
47	import numpy as np
48
49	@pytest.fixture(scope='module')
50	def ros_context():
51	"""Initialize ROS2 context once per test module"""
52	rclpy.init()
53	yield
54	rclpy.shutdown()
55
56	@pytest.fixture
57	def perception_node(ros_context):
58	"""Create a fresh perception node for each test"""
59	node = PerceptionNode()
60	yield node
61	node.destroy_node()
62
63	@pytest.fixture
64	def test_image():
65	"""Generate a synthetic test image"""
66	msg = Image()
67	msg.height = 256
68	msg.width = 256
69	msg.encoding = 'rgb8'
70	msg.step = 256 * 3
71	msg.data = np.random.randint(0, 255, (256, 256, 3),
72	dtype=np.uint8).tobytes()
73	return msg
74
75	class TestPerceptionNode:
76
77	def test_initialization(self, perception_node):
78	"""Node should initialize with correct default parameters"""
79	assert perception_node.get_parameter('confidence_threshold').value == 0.7
80	assert perception_node.get_parameter('rate_hz').value == 30.0
81
82	def test_parameter_validation(self, perception_node):
83	"""Node should reject invalid parameter values"""
84	from rcl_interfaces.msg import SetParametersResult
85	result = perception_node.set_parameters([
86	rclpy.parameter.Parameter('confidence_threshold',
87	value=-0.5) # Invalid!
88	])
89	assert not result[0].successful
90
91	def test_image_callback_publishes_detections(self, perception_node, test_image):
92	"""Processing an image should produce detection output"""
93	received = []
94
95	# Create a test subscriber
96	sub_node = Node('test_subscriber')
97	sub_node.create_subscription(
98	DetectionArray, '/perception/detections',
99	lambda msg: received.append(msg), 10)
100
101	# Simulate image callback
102	perception_node.image_callback(test_image)
103
104	# Spin briefly to allow message propagation
105	rclpy.spin_once(sub_node, timeout_sec=1.0)
106	rclpy.spin_once(perception_node, timeout_sec=1.0)
107
108	# Verify
109	assert len(received) > 0
110	sub_node.destroy_node()
111
112	def test_empty_image_handling(self, perception_node):
113	"""Node should handle empty/corrupted images gracefully"""
114	empty_msg = Image() # No data
115	# Should not crash
116	perception_node.image_callback(empty_msg)
117	```
118
119	### Testing Pure Functions (No ROS Dependency)
120
121	```python
122	# test_kinematics.py
123	import pytest
124	import numpy as np
125	from my_pkg.kinematics import (
126	forward_kinematics, inverse_kinematics,
127	quaternion_multiply, transform_point
128	)
129
130	class TestForwardKinematics:
131
132	@pytest.mark.parametrize("joint_angles,expected_pos", [
133	# Home position
134	(np.zeros(7), np.array([0.088, 0.0, 1.033])),
135	# Known calibrated pose
136	(np

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