Testing

Each of the four framework packages ships a pytest suite that runs without a live ROS install. The rospy ecosystem (rospy, rospkg, message packages, MoveIt, KDL, tf) is stubbed at conftest load time so tests stay fast and developers can iterate without bringing up a roscore.

Total coverage across the ecosystem: 103 tests.

Test inventory
Package	Tests	Coverage
uniros	20	Gym proxy aliasing; end-to-end step/reset/__getattr__ across the multiprocessing pipe; unwrapped property; worker error propagation; idempotent close; canonical utils API surface.
multiros	33	Proxy re-export identity; kernel-based port allocator with 20-thread concurrent test; cleanup registry + rospy.on_shutdown wiring; kill-helper rename with deprecated aliases; utility re-export identity.
realros	31	realros-shaped equivalent of the multiros suite.
sb3_ros_support	19	Smoke tests for BasicModel and the 10 algorithm subclasses.

Running the tests

From the root of any package:

cd ~/uniros_ws/src/<package_name>
python3 -m pytest tests/ -v

Multiros and realros expect UniROS to be importable from a sibling directory; the pytest.ini in each package’s root already adds the right paths.

A complete sweep:

for pkg in UniROS/uniros multiros_v1/multiros realros sb3_ros_support; do
    echo "=== $pkg ==="
    (cd ~/uniros_ws/src/$pkg && python3 -m pytest tests/ -q)
done

Continuous integration

Each package has a .github/workflows/tests.yml that runs the same pytest suite on push and pull request, with a Python 3.8 + 3.10 matrix on ubuntu-22.04. Python 3.12 is intentionally skipped until the setup.py files migrate from distutils to setuptools (distutils was removed from 3.12’s stdlib).

The workflows do not install ROS — they rely on the same stubs the local tests use, so a green CI run reflects what passes on a clean Ubuntu machine without Noetic installed.

Adding new tests

Put new tests in the relevant package’s tests/ directory.
If your test needs an extra ROS message type or third-party module that isn’t already stubbed, add it to the package’s tests/conftest.py _force_stub block — and add it to the workflow’s pip install line if it’s a pure-Python dep.
Tests should run in under a second each. If you need a slow integration test (real ROS, real Gazebo), put it under tests/integration/ and mark it @pytest.mark.integration so it’s excluded from the default run.