Network Systems

This repository contains the source code for all of UBC Sailbot's Network Systems programs. It is made to work as part of Sailbot Workspace, and is not meant to be built as an independent project.

Setup

For comprehensive setup instructions, follow our setup guide.

Building

Option A: With sailbot_workspace open, invoke the VSCode build or debug task.

Option B: Run /workspaces/sailbot_workspace/build.sh

Running

ROS Launch

Instructions found here.

For example:

ros2 launch network_systems main_launch.py

This is the best option if multiple modules need to be run at once. Launch configurations are found under the config folder. These configurations define which modules to enable/disable and what parameters to use.

ROS Run

If you just want to run a single module, then this is a direct and easy way to do it.

For example:

ros2 run network_systems example --ros-args -p enabled:=true

Binary

Not recommended as you cannot pass ROS parameters, so modules may not work by default. Binaries for each module found under projects can be found under /workspaces/sailbot_workspace/build/network_systems/projects/{module_name}/{module_name}.

For example:

/workspaces/sailbot_workspace/build/network_systems/projects/example/example

Testing

Unit tests specific to Network Systems is done using GoogleTest. Unit tests are defined per module. For example, under projects/example/test/.

Run All Tests

Option A: With sailbot_workspace open, invoke the VSCode test task.

Option B: Under the sailbot_workspace directory, run /workspaces/sailbot_workspace/test.sh

Both options will run all of UBC Sailbot's tests, including those from other projects. More often than not, this is unnecessary.

Run and Debug Specific Tests

This is the preferred way to run and debug tests. When you open a test source file like the example's, there will be green arrows next to each TEST_F macro. Clicking a double green arrow runs a test suite, while clicking single green arrow runs one unit test. Right clicking either arrow will open a prompt with a debug test option. When running a test via the debug option, we can set breakpoints and step through our code line by line to resolve issues.

This convenient testing frontend is thank's to the TestMate extension.

Warning: Large failing tests can crash VSCode. If this happens, either lower the size of the tests (ex. reduce the number of iterations) or run the test binary directly.

Run Test Binaries

Test binaries for each module found under projects can be found under /workspaces/sailbot_workspace/build/network_systems/projects/{module_name}/test_{module_name}.

For example:

/workspaces/sailbot_workspace/build/network_systems/projects/example/test_example