CI-Status master:
CI-Status atf_test_apps/master:
The ATF is a testing framework written for ROS which supports executing integration and system tests, running benchmarks and monitor the code behaviour over time. The ATF provides basic building blocks for easy integration of the tests into your application. Furthermore the ATF provides everything to automate the execution and analysis of tests as well as a graphical web-based frontend to visualize the results.
Auto-generated TOC with https://imthenachoman.github.io/nGitHubTOC/.
- Architecture
- Implemented metrics
- Installation
- Using the ATF (by examples)
- Contributing to the ATF
- Acknowledgements
There is a presentation for a brief ATF introduction.
The following metrics have been implemented so far:
| Metric | Description | Unit | Mode (span, snap) |
|---|---|---|---|
time |
The time metric measures the elapsed time. |
[sec] | span |
publish_rate |
The publish_rate metric measures the publising rate of a topic |
[1/sec] | span |
interface |
The interface metric checks if an interfaces (nodes, publishers, subscribers, service servers, action servers) matches its specification. |
[bool] | snap |
tf_distance_translation |
The tf_distance_translation metric measures the cartesian distance of a TF frame with respect to another frame at the end of a testblock. |
[m] | snap |
tf_distance_rotation |
The tf_distance_rotation metric measures the cartesian angular distance of a TF frame with respect to another frame at the end of a testblock. |
[m] | snap |
tf_length_translation |
The tf_length_translation metric measures the cartesian path (distance integrated over time) of a TF frame with respect to another frame. |
[m] | span |
tf_length_rotation |
The tf_length_rotation metric measures the cartesian angular path (angular distance integrated over time) of a TF frame with respect to another frame. |
[m] | span |
| user_result | The result for the user_result metric can be set from the user within the application.py. | [any] | span, snap |
Further metrics (in development):
| Metric | Description | Unit | Mode (span, snap) |
|---|---|---|---|
resources |
The resources metric measures the resource consumption of a node on the operating system level (CPU, RAM, IO). |
[%], [MB], [MB/sec] | snap |
path_velocity |
The path_velocity metric measures the cartesian velocity (distance differntiated over time) of a TF frame with respect to another frame. |
[m/sec] | span |
distance |
The distance metric measures the cartesian distance between two TF frames. |
[m] | snap |
obstacle_distance |
The obstacle_distance metric measures the distance between two meshes |
[m] | snap |
message_match |
The message_match metric checks if a message content matches its desired content. |
[bool] | snap |
For installation instruction see ATF Installation.
For examples how to use the ATF see ATF Examples
For examples how to extend the ATF with your own contribution see ATF Contribution
The work leading to these results has received funding from the European Community's Seventh Framework Program (FP7/2007-2013) under grant agreement no 609206 Factory-in-a-Day and the German Federal Ministry for Economic Affairs and Energy under grant agreement no 01MA13001A ReApp.