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Testing

AirStack uses several test layers: ROS 2 package tests (colcon test), and system tests under tests/ at the repo root (pytest, full Docker stack).

System tests (tests/)

The canonical reference is tests/README.md (also included in the MkDocs site). In short:

Mark Module Role
liveliness test_liveliness.py Containers, /clock readiness, tmux, sentinel ROS 2 nodes, compute, infra-only stability poll
sensors test_sensors.py Sim + robot stereo/depth Hz, filtered LiDAR (echo --once + validation script on Isaac), sim RTF, sensor stability time-series
takeoff_hover_land test_takeoff_hover_land.py Four-phase flight chain per configuration

Collection order is defined in tests/conftest.py (liveliness before sensors before takeoff_hover_land). Each mark’s test class uses class-scoped airstack_env, so combining marks with and runs multiple full stack bring-ups per (sim, num_robots, iteration) — see Bring-up scope in tests/README.md.

Isaac Sim: the sensors implementation batches ros2 topic hz on sim and robot paths and avoids hz on filtered PointCloud2; pytest enables ENABLE_LIDAR for the multi-drone Pegasus script. Details: tests/README.md → Isaac Sim and the sensors mark.

Other testing docs