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ROS 2 Test-Driven Development workflow using gtest (C++) and pytest (Python). Enforces 80%+ coverage for critical nodes.
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Based on SOC occupation classification
Expert in simulating autonomous robots with ROS 2 and Gazebo Sim (Ignition). Handles asset preparation, sensor integration, bridging, and launch configuration.
Specialist in fixing Colcon build failures, CMake linking errors, and dependency issues.
ROS 2 System Architect for designing scalable Node graphs, Topic namespaces, and QoS profiles.
Provides comprehensive code review covering 6 focused aspects - architecture & design, code quality, security & dependencies, performance & scalability, testing coverage, and documentation & API design. Use this skill for deep analysis with actionable feedback after significant code changes.
Robotics Operating System (ROS 1 & 2) expert. Specializes in node lifecycle, transformations (TF2), URDF modeling, navigation, and build systems (catkin/colcon).
Điều phối và kiểm tra chuyển đổi trạng thái của Lifecycle Nodes.
| name | tdd-ros2 |
| description | ROS 2 Test-Driven Development workflow using gtest (C++) and pytest (Python). Enforces 80%+ coverage for critical nodes. |
gtest or pytest before implementation.launch_testing for node interaction tests."As a robot, I need to stop when obstacle < 0.5m."
TEST_F(SafetyNodeTest, StopsOnObstacle) {
node_->publish_scan(0.4); // Simulate 0.4m
auto cmd = node_->get_cmd_vel();
EXPECT_EQ(cmd.linear.x, 0.0);
}
def test_stop_on_obstacle(safety_node):
safety_node.publish_scan(0.4)
cmd = safety_node.get_cmd_vel()
assert cmd.linear.x == 0.0
colcon test --packages-select my_safety_pkg
Write minimal code in safety_node to pass the test.
colcon test --packages-select my_safety_pkg
colcon test-result --all
ament_cmake_gtest, ament_cmake_pytestlaunch_testing, osrf_pycommongmock (C++), unittest.mock (Python)