Capabilities features can be tested using the provided test scripts. The test scripts primarily test the capabilities2 server using service clients. Launch the capabilities2 server before running the test scripts using

source install/setup.bash

ros2 launch capabilities2_server capabilities2_server.launch.py

The test scripts are written to test against the std_capabilities package. Make sure that the std_capabilities package is copied along with the capabilities2 package to the capabilities2_ws/src folder and is built and sourced before running the test scripts.

‍Note: The test scripts use the bondpy package. Make sure it is installed before running the test scripts. \ sudo apt install ros-$ROS_DISTRO-bondpy

Run the tests with python3. The test scripts are located in the capabilities2_server/test directory. Make sure to source the workspace before running the test.

# example
source install/setup.bash
cd src/capabilities2/capabilities2_server/test
python3 call_establish_bond.py

Test Script	Description
call_establish_bond.py	Test establishing a bond. `ctrl-C` to kill the bond
call_get_interfaces.py	Test getting all loaded interfaces
call_get_providers.py	Test getting loaded providers for the `empty` interface
call_get_semantic_interfaces.py	Get loaded semantic interfaces
call_get_specs.py	Get all the loaded spec files
call_register_cap.py	Register a new specification file

Launch-runner-specific tests are currently not provided. The LaunchRunner header and plugin entry remain in the codebase, but launch support is intentionally deferred until a replacement approach for the current ROS2 launch system is ready.