Various dev updates:

adding a testing framework document (#189)

Create pull_request_template.md

adds a template for PRs

Fix auto bws if setup.bash doesn't exist (#187)

Bump version to 1.0.3

.env

@@ -1,6 +1,6 @@
 PROJECT_NAME="airstack"
-PROJECT_VERSION="1.0.2"
+PROJECT_VERSION="1.0.3"
 # can replace with your docker hub username
 PROJECT_DOCKER_REGISTRY="airlab-storage.andrew.cmu.edu:5001/shared"
 DEFAULT_ISAAC_SCENE="omniverse://airlab-storage.andrew.cmu.edu:8443/Projects/AirStack/fire_academy.scene.usd"
-PLAY_SIM_ON_START="true"
+PLAY_SIM_ON_START="true"

.github/pull_request_template.md

@@ -0,0 +1,19 @@
+# Pull Request Title
+
+## What does this pull request do?
+
+Which issue number does this address?
+
+Add videos and images if possible.
+
+## How did you implement it?
+
+## Testing
+**How do you run the tests?**
+
+**What do the tests do?**
+
+**What are the expected results of the tests?**
+
+## Did you update the docs (and where)?
+Docs are updated via mkdocs.yml and markdown files under `docs/`. It should render at localhost:8000 when you run `docker compose up docs`.

docs/development/testing/testing_frameworks.md

@@ -1 +1,112 @@
-# Testing Frameworks
+# Testing Frameworks
+
+## Testing Categories
+Testing is organized into four main categories:
+
+1. **Integration Testing (End-to-End Testing):**  
+   Validates the entire system within its operational environment, whether in simulation or on hardware.
+
+2. **System Testing:**  
+   Tests interactions between system components, such as communication between ROS nodes.
+
+3. **Node Testing:**  
+   Focuses on verifying the functionality of individual nodes, from initialization to execution.
+
+4. **Unit Testing:**  
+   Tests specific functions or business logic to ensure the correctness of the smallest units of code.
+
+---
+
+## Testing Utilities
+Since our autonomy system primarily relies on ROS 2, we use the `colcon test` framework to run tests. Most tests are written in Python using the `pytest` package, as demonstrated in the example below.
+
+---
+
+## Testing Structure
+All tests should be included in a ```tests/``` folder in their respective heirarchy of the architecture. For example, integration testing should on the same level as the ```robot/``` and ```simulation/``` folders, where a node test should reside in the ros package directoy. ```colcon test``` will search through the workspace to find all testing packages, provided they are specified in the Cmake.txt or setup.py files.
+
+## Example Testing Script
+
+Below is an example of a systems test that can give the general structure of a testing script.
+
+```
+import os
+import sys
+import time
+import unittest
+import uuid
+
+import launch
+from launch.launch_service import LaunchService
+import launch_ros
+import launch_ros.actions
+import launch_testing.actions
+from launch_testing.io_handler import ActiveIoHandler
+import launch_testing_ros
+
+import pytest
+
+import rclpy
+from rclpy.node import Node
+
+import std_msgs.msg
+from std_msgs.msg import String
+import mavros_msgs.srv
+
+import time
+
+@pytest.mark.rostest
+# this is the test descriptioon used to launch the full robot system with launch_robot_headless.yaml
+def generate_test_description():
+    robot_launch_path = 'path/to/launch/file'
+
+    gui_arg = launch.actions.DeclareLaunchArgument('use_gui', default_value='false', description='Whether to launch the GUI')
+
+    robot_launch = launch.actions.IncludeLaunchDescription( launch.launch_description_sources.AnyLaunchDescriptionSource(robot_launch_path),
+                                                            launch_arguments={'use_gui': launch.substitutions.LaunchConfiguration('use_gui')}.items())
+    return (
+        launch.LaunchDescription([
+            gui_arg,
+            robot_launch,
+            launch_testing.actions.ReadyToTest(),
+        ]),
+        {}
+    )
+
+class TestRobotSystem(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        # Initialize the ROS context for the test node
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        # Shutdown the ROS context
+        rclpy.shutdown()
+
+    def setUp(self):
+        # Create a ROS node for tests
+        self.node = rclpy.create_node('robot_tester_node')
+        self.service_timeout = 2
+
+    def tearDown(self):
+        self.node.destroy_node()
+
+    def test_set_mode(self):
+        client = self.node.create_client(mavros_msgs.srv.SetMode, '/mavros/set_mode')
+        self.node.get_logger().info("Waiting for service to be available...")
+        accum_time = 0
+        while not client.wait_for_service(timeout_sec=1.0):
+            print('service not available, waiting again...')
+            accum_time += 1
+            if accum_time > self.service_timeout:
+                print('service not available, aborting test...')
+                self.assertTrue(False)
+        request = mavros_msgs.srv.SetMode.Request()
+        request.custom_mode = "GUIDED"
+        print("Sending request to set mode to GUIDED") 
+        future = client.call_async(request)
+        rclpy.spin_until_future_complete(self.node, future)
+        response = future.result()
+        self.assertTrue(response.mode_sent)
+```

ground_control_station/docker/docker-compose.yaml

@@ -11,7 +11,9 @@ services:
     command: >
       bash -c "ssh service restart;
       tmux new -d -s gcs_bringup
-      && tmux send-keys -t gcs_bringup 'ros2 launch gcs_bringup gcs.launch.xml' ENTER
+      && tmux send-keys -t gcs_bringup 
+      'if [ ! -f "/root/ros_ws/install/setup.bash" ]; then bws && sws; fi;
+      ros2 launch gcs_bringup gcs.launch.xml' ENTER
       && sleep infinity"
     # Interactive shell
     stdin_open: true # docker run -i

robot/docker/robot-base-docker-compose.yaml

@@ -7,7 +7,7 @@ services:
       bash -c "ssh service restart;
       tmux new -d -s robot_bringup
       && tmux send-keys -t robot_bringup 
-      'if [ ! -d "~/ros_ws/install" ]; then bws && sws; fi;
+      'if [ ! -f "/root/ros_ws/install/setup.bash" ]; then bws && sws; fi;
       ros2 launch robot_bringup robot.launch.xml' ENTER
       && sleep infinity"
     # Interactive shell