https://github.com/bekirbostanci/ros2_robotframework
Test ROS2 package with Robot Framework
https://github.com/bekirbostanci/ros2_robotframework
robotframework robotframework-library ros2 ros2-humble
Last synced: 5 days ago
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Test ROS2 package with Robot Framework
- Host: GitHub
- URL: https://github.com/bekirbostanci/ros2_robotframework
- Owner: bekirbostanci
- License: other
- Created: 2025-09-07T22:25:48.000Z (about 1 month ago)
- Default Branch: main
- Last Pushed: 2025-10-05T08:51:20.000Z (6 days ago)
- Last Synced: 2025-10-05T09:08:05.706Z (6 days ago)
- Topics: robotframework, robotframework-library, ros2, ros2-humble
- Language: Python
- Homepage:
- Size: 3.12 MB
- Stars: 20
- Watchers: 0
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# Robot Framework ROS2 Library
A comprehensive Robot Framework library for testing and automating ROS2 applications.
## What is Robot Framework?
**Robot Framework** is an open-source automation framework that uses keyword-driven testing with simple, readable syntax. It's perfect for ROS2 because:
> 📚 **Learn more**: [Robot Framework Documentation](https://robotframework.org/)
- **🔧 Keyword-Driven**: Complex ROS2 operations become simple keywords (`Navigate To Pose`, `Wait For Topic`)
- **📊 Rich Reporting**: Built-in HTML reports with detailed logs for debugging
- **🔄 CI/CD Ready**: Seamlessly integrates with automated testing pipelines
- **👥 Accessible**: Non-programmers can write and understand test cases
- **🧪 System Testing**: Ideal for testing complex multi-node ROS2 systems
## Features
### Core ROS2 Operations
- **Topic Operations**: List topics, get topic info, echo messages, publish messages, wait for topics
- **Service Operations**: List services, call services, get service info, wait for services
- **Node Operations**: List nodes, get node info, wait for nodes
- **Parameter Operations**: List, get, set parameters, check parameter existence
- **Launch Operations**: Launch files and packages, find launch files, manage launch processes
- **Run Operations**: Run nodes directly, run with remapping, find executables, manage node processes
### Native ROS2 Python Node Operations (NEW!)
- **Native Topic Operations**: Direct publishing/subscribing using ROS2 Python nodes
- **Native Service Operations**: Direct service calls using ROS2 Python service clients
- **Native Parameter Operations**: Direct parameter access using ROS2 Python parameter clients
- **Native TF2 Operations**: Direct transform operations using ROS2 Python TF2
- **Message Storage**: Automatic message buffering and retrieval
- **Real-time Communication**: Low-latency, high-performance ROS2 communication
### Advanced Features
- **Process Management**: Start, monitor, and terminate ROS2 processes
- **Discovery**: Find launch files and executables in packages
- **Remapping**: Topic and service remapping for node execution
- **Timeout Support**: Configurable timeouts for all operations
- **Hybrid Mode**: Automatic fallback from native to CLI operations when needed
## Installation
### From Source
```bash
git clone https://github.com/bekirbostanci/ros2_robotframework.git
cd ros2_robotframework
pip install -e .
```
### From PyPI (when published)
```bash
pip install ros2-robotframework
```
### Dependencies
This library requires ROS2 to be installed and sourced. Make sure you have:
- ROS2 (tested with Jazz and Humble)
- Python 3.8 or higher
- All ROS2 message packages (std_msgs, geometry_msgs, etc.)
## Quick Start
### Basic Usage
```robot
*** Settings ***
Library ROS2ClientLibrary use_native_node=True
*** Test Cases ***
Test Basic ROS2 Operations
# List available topics
${topics}= List Topics
Log Available topics: ${topics}
# Check if a specific topic exists
${exists}= Topic Exists /chatter
Should Be True ${exists}
# Get topic information
${info}= Get Topic Info /chatter
Log Topic info: ${info}
Test Native ROS2 Operations
# Subscribe to a topic using native ROS2 node
${success}= Native Subscribe Topic /chatter std_msgs/msg/String
Should Be True ${success}
# Publish a message using native ROS2 node
${success}= Native Publish String /chatter "Hello World!"
Should Be True ${success}
# Wait for and get the message
${message}= Native Wait For Message /chatter timeout=5.0
Should Not Be None ${message}
Log Received: ${message}[data]
```
### Launch and Run Operations
```robot
*** Settings ***
Library ROS2ClientLibrary
*** Test Cases ***
Test Launch File
# Launch a ROS2 launch file
${process}= Launch Package demo_nodes_cpp talker_listener.launch.py
Should Not Be Equal ${process} ${None}
# Wait for topics to appear
${available}= Wait For Topic /chatter timeout=10.0
Should Be True ${available}
# Echo some messages
${messages}= Echo Topic /chatter count=3
# Clean up
${terminated}= Terminate Launch Process ${process}
Should Be True ${terminated}
Test Run Node
# Run a node directly
${process}= Run Node demo_nodes_cpp talker
Should Not Be Equal ${process} ${None}
# Wait for the node to start
Sleep 2s
# Check if process is running
${running}= Is Process Running ${process}
Should Be True ${running}
# Terminate the process
${terminated}= Terminate Node Process ${process}
Should Be True ${terminated}
```
### Running Examples
```bash
# Run the basic test
robot examples/basics/ros2_basic_test.robot
# Run the Nav2 monitoring test
robot examples/medium/nav2_simple_monitoring_test.robot
```
## Tested with Navigation2
This library has been extensively tested with Navigation2 applications. For testing and validation purposes, we used the following repository:
**Test Repository**: [navigation2_ignition_gazebo_turtlebot3](https://github.com/Onicc/navigation2_ignition_gazebo_turtlebot3)
### Test Coverage
The library has been validated with:
- ✅ **Basic Navigation**: Point-to-point navigation tasks
- ✅ **Obstacle Avoidance**: Dynamic obstacle detection and avoidance
- ✅ **Path Planning**: Global and local path planning algorithms
- ✅ **Recovery Behaviors**: Navigation recovery and error handling
- ✅ **Multi-robot Scenarios**: Testing with multiple robot instances
> **Note**: While extensively tested with this specific repository, the library is designed to work with **any ROS2 project** and can be used with any ROS2-based robotic system, including custom robots, different navigation stacks, and various simulation environments.
## Todo List
### Completed Features
#### ROS2 Core Features
- [x] **Core ROS2 Operations**: Topic, service, node, parameter, launch, and run operations
- [x] **Native ROS2 Python Node Operations**: Direct publishing/subscribing using ROS2 Python nodes
- [x] **Native Service Operations**: Direct service calls using ROS2 Python service clients
- [x] **Native Parameter Operations**: Direct parameter access using ROS2 Python parameter clients
- [x] **Native TF2 Operations**: Direct transform operations using ROS2 Python TF2
- [x] **Message Storage**: Automatic message buffering and retrieval
- [x] **Process Management**: Start, monitor, and terminate ROS2 processes
- [x] **Discovery**: Find launch files and executables in packages
- [x] **Remapping**: Topic and service remapping for node execution
- [x] **Timeout Support**: Configurable timeouts for all operations
#### Navigation2 Features
- [x] **Navigation2 Client**: Complete Navigation2 client with native ROS2 operations
- [x] **Navigate to Pose**: Point-to-point navigation with action client
- [x] **Navigate Through Poses**: Multi-waypoint navigation
- [x] **Costmap Operations**: Global and local costmap clearing
- [x] **Pose Management**: Initial pose setting and AMCL pose monitoring
- [x] **Velocity Control**: Direct velocity command publishing
- [x] **Navigation Status**: Real-time navigation status monitoring
- [x] **Recovery Behaviors**: Navigation recovery and error handling
- [x] **Multi-robot Support**: Testing with multiple robot instances
### Planned Features
- [ ] **Performance Monitoring**: Add built-in performance metrics and timing for operations
- [ ] **Multi-robot Support**: Enhanced support for testing multiple robots simultaneously
- [ ] **Custom Message Types**: Better support for custom ROS2 message types and validation
- [ ] **Integration Testing**: Add comprehensive integration test suites
- [ ] **Documentation**: Expand API documentation with more examples and use cases
- [ ] **CI/CD Integration**: Add GitHub Actions workflows for automated testing
- [ ] **Extending ROS2 Version Support**: Add compatibility for additional ROS2 distributions (e.g., Foxy, Galactic, Humble, Iron, Jazzy)
## Test Results
Here's an example of the test output and monitoring capabilities:
