<test> tag

The <test> tag is syntactically similar to the <node> tag. They both specific a ROS node to run, but the <test> tag indicates that the node is actually a test node to run. For more information about these test nodes, please see the rostest documentation.

Examples

<test test-name="test1_2" pkg="mypkg" type="test_1_2.py" time-limit="10.0" args="--test1 --test2" />

Launches the "test_1_2" node using the test_1_2.py executable from the mypkg package with the command-line argument --test1 --test2. The test will be terminated as a failure if it takes longer than 10 seconds.

Attributes

<test> tags share most of the normal <node> attributes, except:

• no respawn attribute (test nodes must terminate, so they are not

respawnable)

• no output attribute as tests use their own output logging mechanism

• The machine attribute is ignored

It also adds several attributes, which are documented below.

• test-name="test_name"

  • Name of test for recording in test results.

  time-limit="60.0" (optional)

  • Number of seconds before the test is considered a failure. Default is 60 seconds.

  retry="0" (optional)

  • Number of times to retry the test before it is considered a failure. Default is 0. This option is useful for stochastic processes that are sometimes expected to fail.

  pkg="mypackage"

  • Package of node.

  type="nodetype"

  • Node type. There must be a corresponding executable with the same name.

  name="nodename"

  • Node name. NOTE: name cannot contain a namespace. Use the ns attribute instead.

  args="arg1 arg2 arg3"(optional)

  • Pass arguments to node.

  ns="foo"(optional)

  • Start the node in the 'foo' namespace.

  clear_params="true|false"(optional)

  • Delete all parameters in the node's private namespace before launch.

  cwd="ROS_HOME|node"(optional)

  • If 'node', the working directory of the node will be set to the same directory as the node's executable. In C Turtle, the default is 'ROS_HOME'. In Box Turtle (ROS 1.0.x), the default is 'ros-root'. The use of 'ros-root' is deprecated in C Turtle.

  launch-prefix="prefix arguments"(optional) launch-prefix="prefix arguments"(optional)

  • Command/arguments to prepend to node's launch arguments. This is a powerful feature that enables you to enable gdb, valgrind, xterm, nice, or other handy tools. See Roslaunch Nodes in Valgrind or GDB for examples.

Elements

You can use the following XML tags inside of a <test> tag:

• <env>

  • Set an environment variable for the node.

  <remap>

  • Set a remapping argument for this node.

  <rosparam>

  • Load a rosparam file into this node's ~/local namespace.

  <param>

  • Set a parameter in the node's ~/local namespace.