There is three ways to use the navigation tests:

1. simulation on your local machine
2. tests on a real robot and
3. simulation on a jenkins continuous integration server.

1. Create a testing workspace

mkdir -p ~/ros/testing_ws/src
cd ~/ros/testing_ws/src
catkin_init_workspace 

2. Make sure to clone the following sources:

• git clone git@github.com:ct2034/cob_navigation_tests.git
• git clone -b jenkins git@github.com:ct2034/ros_comm.git (this is a special branch containing only the changed package rostest, you won't need this for indigo, where the changes are already included)
• If you want to run tests on IPA-Navigation (what you probably want):

git clone git@github.com:ipa320/ipa_navigation.git
git clone git@github.com:ipa320/ipa_navigation_localization.git
git clone git@github.com:ipa320/ipa_navigation_planning.git
git clone git@github.com:ipa320/ipa_navigation_driver.git
git clone git@github.com:ipa320/ipa_navigation_common.git

3. The test configuration is stored in a designated package.

• To create your own configuration: Fork the example setup: [https://github.com/ct2034/my_navigation_test]
• and clone your configuration: git clone git@github.com:<<MY_USER>>/<<MY_CONFIG>>.git (which works also with the example setup)

4. Setup a path to store the bag files:

• mkdir -p ~/ros/bagFiles
• export BAG_PATH='~/ros/bagFiles/'

5. Build the code

• cd ~/ros/testing_ws
• catkin_make
• source devel/setup.bash

6. Run the tests

• To run all tests defined in the CMakeLists.txt (found in your configuration package) call:
• cd build
• make run_tests_my_navigation_test

Before running the test routine ensure that the robot is set up correctly and is situated at the correct starting position. If that is established, the test can bestarted using the procedure described above. Only one change in the CMakeLists.txt (in your configuration package) is necessary:

• in line 29: SET(TEST_SIM false)

To run the test in Jenkins, you need to set up a new job for the configuration package. Select Graphics test to add the test. Additionally add all the dependencies described (above).