Migration of integration tests to pytest

[URJala]

The tests in robot_driver.py run, and initialisation is done entirely in conftest and test_common

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 6.25%. Comparing base (1b121b7) to head (7de2247).
Report is 400 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff            @@
##            main   #1274      +/-   ##
========================================
+ Coverage   3.59%   6.25%   +2.65%     
========================================
  Files         13      28      +15     
  Lines        947    2784    +1837     
  Branches     152     355     +203     
========================================
+ Hits          34     174     +140     
- Misses       843    2608    +1765     
+ Partials      70       2      -68     

Flag	Coverage Δ
unittests	6.25% <ø> (+2.65%)	⬆️

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[urfeex]

@URJala is this ready to review?

[URJala]

Yes, we talked about it maybe not being ideal to re-launch the driver between each test case, which is the only way I was able to make it work. You said you would take a look, and see if you could find anything that would keep the driver between test-cases. Otherwise feedback on the structure of the conftest and robot driver package is also welcome

[urfeex]

How would I supposed to be running that? I am not that familiar with pytest / launch_pytest so I might just be stupid, but the standard colcon test seems not to work. Looking at launch_pytest I am not even sure whether a CMake integration is possible?

Edit:
Adding this to the CMakeLists.txt would work

    ament_add_pytest_test(robot_driver_test test/robot_driver.py
      TIMEOUT
        800
    )

However, for me the test is stuck on Initialising interfaces. It seems like the wait_dashboard_server and ursim are started after I abort the test using CTRL-C.

[URJala]

I run it with pytest path/to/testfile.py (with options -s -v for more output, and --full-trace for a stack trace in case of errors). Yeah, whenever I have been running any tests locally, I launch ursim myself and remove the ursim and wait_dashboard_server from test_common. That has never worked locally for me.