Add unit tests to watchdog repository

[gbiggs]

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[robbel]

Hi @norro, I believe we spoke about this a while ago. Curious if that would still fit on your radar to add unit tests to the https://github.com/ros-safety/software_watchdogs repository? Happy to discuss here or in the next safety working group.

[norro]

Hey @robbel. Yes, this is still on my radar and I still intend to do it. However, there are processes within my company that I have to wait for in order to contribute publicly (sounds ridiculous, I know, I'm sorry, but that's the way it is).

I hope that I can start on this within the next two weeks or so. If you need to have this earlier, I can only point you to the test setup I created for the ROS 2 diagnostic_aggregator. I believe that especially the output tests are close to what we want to have here as well, i.e.: test fixture for/with watchdogs and then monitoring their output. Do you agree?

[robbel]

Thanks @norro , much appreciate the background. And I would agree that the general setup would be the same for the watchdogs as well-- in my (yet to be completely formed) mental model for the tests there would be a monitored process launched for a couple seconds, followed by their shutdown, and a test that the watchdog process transitions properly (it's itself a managed node) within a certain time interval. The next two weeks actually don't sound too bad for us, so maybe we'll just pick up the conversation then. Best!