robotics-testing

# Robotics Testing Skill ## When to Use This Skill - Writing unit tests for ROS1/ROS2 nodes - Setting up integration tests with launch_testing - Mocking hardware (sensors, actuators) for CI/CD - Building simulation-based test suites - Testing perception pipelines with ground truth - Validating trajectory planners and controllers - Setting up CI/CD pipelines for robotics packages - Debugging flaky tests in robotics systems ## The Robotics Testing Pyramid ``` ╱╲ ╱ ╲ Field Tests ╱ ╲ (Real robot, real environment) ╱──────╲ ╱ ╲ Hardware-in-the-Loop (HIL) ╱ ╲ (Real hardware, controlled environment) ╱────────────╲ ╱ ╲ Simulation Tests ╱ ╲ (Full sim, realistic physics) ╱──────────────────╲ ╱ ╲ Integration Tests ╱ ╲ (Multi-node, message passing) ╱────────────────────────╲ ╱ ╲ Unit Tests ╱____________________________╲ (Single function/class, fast, deterministic) MORE tests at the bottom, FEWER at the top. Bottom = fast, cheap, deterministic. Top = slow, expensive, realistic. ``` ## Unit Testing Patterns ### Testing ROS2 Nodes with pytest ```python # test_perception_node.py import pytest import rclpy from rclpy.node import Node from sensor_msgs.msg impor...