test: add unit tests and node test for dp controller (#590)

* test: check that failed tests makes the pipeline fail

* test: passing tests passes the pipeline

* test: add initial tests for calculation of tau in dp controller

* test: add various tests for the calculation of tau in the dp controller, capturing coupling relationships and rotations

* refactor: move simulator tests into a dedicated folder

* test: add ros node test folder and workflow

* update workflow name

* [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci

* only run ros node test on pull request and push to main

* Remove commented line from ROS node tests workflow

---------

Co-authored-by: Andreas Kluge Svendsrud <89779148+kluge7@users.noreply.github.com>

Author: Andeshog

.github/workflows/ros-node-tests.yml

@@ -0,0 +1,21 @@
+name: ROS Node Test
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    types: [ opened, synchronize, reopened, ready_for_review ]
+  workflow_dispatch:
+  schedule:
+    - cron: '0 1 * * *' # Runs daily at 01:00 UTC
+jobs:
+  call_reusable_workflow:
+    strategy:
+      matrix:
+        test_script:
+          - "tests/ros_node_tests/dp_node_test.sh"
+    uses: vortexntnu/vortex-ci/.github/workflows/reusable-ros2-simulator-test.yml@main
+    with:
+      vcs_repos_file: "tests/dependencies.repos"
+      setup_script: "tests/setup.sh"
+      test_script: "${{ matrix.test_script }}"

.github/workflows/simulator-test.yml

@@ -13,8 +13,8 @@ jobs:
     strategy:
       matrix:
         test_script:
-          - "tests/waypoint_navigation/simulator_test.sh"
-          #- "tests/los_test/simulator_test.sh"
+          - "tests/simulator_tests/waypoint_navigation/simulator_test.sh"
+          #- "tests/simulator_tests/los_test/simulator_test.sh"
     uses: vortexntnu/vortex-ci/.github/workflows/reusable-ros2-simulator-test.yml@main
     with:
       vcs_repos_file: "tests/dependencies.repos"

control/dp_adapt_backs_controller/CMakeLists.txt

@@ -67,4 +67,8 @@ install(DIRECTORY
   DESTINATION share/${PROJECT_NAME}/
 )
 
+if(BUILD_TESTING)
+  add_subdirectory(test)
+endif()
+
 ament_package()

control/dp_adapt_backs_controller/test/CMakeLists.txt

@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.8)
+
+find_package(GTest REQUIRED)
+include(GoogleTest)
+
+set(TEST_BINARY_NAME ${PROJECT_NAME}_test)
+add_executable(
+    ${TEST_BINARY_NAME}
+    dp_adapt_backs_controller_tests.cpp
+)
+
+target_link_libraries(
+    ${TEST_BINARY_NAME}
+    PRIVATE
+    ${LIB_NAME}
+    GTest::GTest
+)
+
+ament_target_dependencies(${TEST_BINARY_NAME} PUBLIC Eigen3 tf2)
+
+gtest_discover_tests(${TEST_BINARY_NAME})