# ros2_system_tests

**Repository Path**: src-openeuler/ros2_system_tests

## Basic Information

- **Project Name**: ros2_system_tests
- **Description**: 本项目已经迁移至 AtomGit  || This project has been migrated to AtomGit || Linked: https://atomgit.com/src-openeuler/ros2_system_tests
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 2
- **Created**: 2022-03-17
- **Last Updated**: 2025-12-25

## Categories & Tags

**Categories**: Uncategorized

**Tags**: sig-ROS

## README

# Notice: This project has been migrated to [AtomGit](https://atomgit.com/src-openeuler/ros2_system_tests)

# 通知: 本项目已经正式迁移至 [AtomGit](https://atomgit.com/openeuler/ros2_system_tests) 平台

# system_tests

#### 介绍

system_tests节点

当需要使用完整的 ROS 2 内核测试新功能时，可能会添加新的系统测试。
如果要实现可能受益于其他系统测试的新功能，则可以询问拉取请求的审阅者是否需要系统测试。

#### 软件架构
软件架构说明

https://github.com/ros2/system_tests.git

文件内容:
```
system_tests/
├── CONTRIBUTING.md
├── LICENSE
├── pytest.ini
├── README.md
├── test_cli
│   ├── CMakeLists.txt
│   ├── package.xml
│   └── test
│       ├── initial_params.cpp
│       ├── initial_params.py
│       ├── __init__.py
│       ├── test_params_yaml.py
│       └── utils.py
├── test_cli_remapping
│   ├── CMakeLists.txt
│   ├── package.xml
│   └── test
│       ├── __init__.py
│       ├── name_maker.cpp
│       ├── name_maker.py
│       └── test_cli_remapping.py
├── test_communication
│   ├── CMakeLists.txt
│   ├── msg
│   │   ├── FieldsWithSameType.msg
│   │   └── UInt32.msg
│   ├── package.xml
│   └── test
│       ├── action_client_py.py
│       ├── action_server_py.py
│       ├── __init__.py
│       ├── publisher_py.py
│       ├── replier_py.py
│       ├── requester_py.py
│       ├── subscriber_py.py
│       ├── test_action_client.cpp
│       ├── test_action_client_server.py.in
│       ├── test_action_server.cpp
│       ├── test_messages_c.cpp
│       ├── test_message_serialization.cpp
│       ├── test_publisher.cpp
│       ├── test_publisher_subscriber.cpp
│       ├── test_publisher_subscriber.py.in
│       ├── test_publisher_subscriber_serialized.cpp
│       ├── test_replier.cpp
│       ├── test_requester.cpp
│       ├── test_requester_replier.py.in
│       ├── test_subscriber.cpp
│       └── test_subscription_valid_data.cpp
├── test_quality_of_service
│   ├── CMakeLists.txt
│   ├── include
│   │   └── test_quality_of_service
│   ├── package.xml
│   └── test
│       ├── qos_test_node.cpp
│       ├── qos_test_publisher.cpp
│       ├── qos_test_subscriber.cpp
│       ├── qos_utilities.cpp
│       ├── test_deadline.cpp
│       ├── test_lifespan.cpp
│       └── test_liveliness.cpp
├── test_rclcpp
│   ├── CMakeLists.txt
│   ├── include
│   │   └── test_rclcpp
│   ├── msg
│   │   └── UInt32.msg
│   ├── package.xml
│   ├── srv
│   │   └── AddTwoInts.srv
│   └── test
│       ├── node_check_names.cpp
│       ├── node_name_list.cpp
│       ├── node_with_name.cpp
│       ├── parameter_fixtures.hpp
│       ├── pub_sub_fixtures.hpp
│       ├── test_avoid_ros_namespace_conventions_qos.cpp
│       ├── test_client_scope_client.cpp
│       ├── test_client_scope_consistency_client.cpp
│       ├── test_client_scope_consistency_server.cpp
│       ├── test_client_scope_server.cpp
│       ├── test_client_wait_for_service_shutdown.cpp
│       ├── test_executable_output.py.in
│       ├── test_executor.cpp
│       ├── test_intra_process.cpp
│       ├── test_local_parameters.cpp
│       ├── test_multiple_service_calls.cpp
│       ├── test_multithreaded.cpp
│       ├── test_n_nodes.py.in
│       ├── test_parameters_server.cpp
│       ├── test_publisher.cpp
│       ├── test_remote_parameters.cpp
│       ├── test_repeated_publisher_subscriber.cpp
│       ├── test_services_client.cpp
│       ├── test_services_in_constructor.cpp
│       ├── test_services_server.cpp
│       ├── test_signal_handler_after_shutdown__expected_output.txt
│       ├── test_signal_handler_after_shutdown__trigger_shutdown.txt
│       ├── test_signal_handler_before_shutdown__expected_output.txt
│       ├── test_signal_handler_before_shutdown__trigger_shutdown.txt
│       ├── test_signal_handler.cpp
│       ├── test_spin.cpp
│       ├── test_subscription.cpp
│       ├── test_timeout_subscriber.cpp
│       ├── test_timer.cpp
│       ├── test_two_executables.py.in
│       └── test_waitable.cpp
└── test_security
    ├── CMakeLists.txt
    ├── package.xml
    └── test
        ├── test_invalid_secure_node_creation_c.cpp
        ├── test_secure_publisher.cpp
        ├── test_secure_publisher_subscriber.py.in
        ├── test_secure_subscriber.cpp
        └── test_security_files

```

#### 安装教程

1. 下载rpm包

aarch64:

```
wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_aarch64/aarch64/system_tests/ros2-foxy-ros2-system_tests-0.9.2-1.oe2203.aarch64.rpm
```

x86_64:

```
wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_x86_64/x86_64/system_tests/ros2-foxy-ros2-system_tests-0.9.2-1.oe2203.x86_64.rpm
```

2. 安装rpm包

aarch64:

```
sudo rpm -ivh --nodeps --force ros2-foxy-ros2-system_tests-0.9.2-1.oe2203.aarch64.rpm
```

x86_64:

```
sudo rpm -ivh --nodeps --force ros2-foxy-ros2-system_tests-0.9.2-1.oe2203.x86_64.rpm
```

#### 使用说明

依赖环境安装:

```
sh /opt/ros/foxy/install_dependence.sh
```

安装完成以后，在/opt/ros/foxy/目录下如下输出,则表示安装成功。

输出:

```
test_cli
└── share
    ├── ament_index
    │   └── resource_index
    ├── colcon-core
    │   └── packages
    └── test_cli
        ├── cmake
        ├── environment
        ├── hook
        ├── local_setup.bash
        ├── local_setup.dsv
        ├── local_setup.sh
        ├── local_setup.zsh
        ├── package.bash
        ├── package.dsv
        ├── package.ps1
        ├── package.sh
        ├── package.xml
        └── package.zsh
test_cli_remapping
└── share
    ├── ament_index
    │   └── resource_index
    ├── colcon-core
    │   └── packages
    └── test_cli_remapping
        ├── cmake
        ├── environment
        ├── hook
        ├── local_setup.bash
        ├── local_setup.dsv
        ├── local_setup.sh
        ├── local_setup.zsh
        ├── package.bash
        ├── package.dsv
        ├── package.ps1
        ├── package.sh
        ├── package.xml
        └── package.zsh
test_rclcpp/
└── share
    ├── ament_index
    │   └── resource_index
    ├── colcon-core
    │   └── packages
    └── test_rclcpp
        ├── cmake
        ├── environment
        ├── hook
        ├── local_setup.bash
        ├── local_setup.dsv
        ├── local_setup.sh
        ├── local_setup.zsh
        ├── package.bash
        ├── package.dsv
        ├── package.ps1
        ├── package.sh
        ├── package.xml
        └── package.zsh
test_communication/
└── share
    ├── ament_index
    │   └── resource_index
    ├── colcon-core
    │   └── packages
    └── test_communication
        ├── cmake
        ├── environment
        ├── hook
        ├── local_setup.bash
        ├── local_setup.dsv
        ├── local_setup.sh
        ├── local_setup.zsh
        ├── package.bash
        ├── package.dsv
        ├── package.ps1
        ├── package.sh
        ├── package.xml
        └── package.zsh
test_security/
└── share
    ├── ament_index
    │   └── resource_index
    ├── colcon-core
    │   └── packages
    └── test_security
        ├── cmake
        ├── environment
        ├── hook
        ├── local_setup.bash
        ├── local_setup.dsv
        ├── local_setup.sh
        ├── local_setup.zsh
        ├── package.bash
        ├── package.dsv
        ├── package.ps1
        ├── package.sh
        ├── package.xml
        └── package.zsh
```

#### 参与贡献

1.  Fork 本仓库
2.  新建 Feat_xxx 分支
3.  提交代码
4.  新建 Pull Request


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