Skip to main content

Basic Bridge Test (ROS2)

This combines a quick manual check with a small automated harness. It assumes ROS2 is installed and sourced.

Manual Steps​

  1. Source ROS2:
    • source /opt/ros/<distro>/setup.bash
  2. Run the compiler with the bridge enabled:
    • python mars_compiler/main.py test_file.mars --ros-autostart --ros-bridge auto --ros-topics-file ros_topics.txt --ros-version 2
  3. Verify the topics file exists and includes your ROS2 topics:
    • cat ros_topics.txt

Automated Harness​

The harness starts the bridge, subscribes via the bridge, publishes one ROS2 message, and verifies the message is received.

Run:

python mars_compiler/basic_bridge_test.py --ros-version 2

Expected output:

  • PASS: received message from /mars_test

If it fails, confirm:

  • ROS2 is installed and sourced.
  • ros2 is on PATH.
  • The environment can import rclpy.