More granular tests

[fennel-labs]

Right now only integration tests exist. It would be nice to refactor the design in a way that for e.g. the dependency graph resolution can be tested in a unit test.

[caplett]

What tests do you think makes sense?

Unit/Integration tests with a high coverage or just a selection of edge cases for specific modules?
I personally would add tests to fix bugs and before refactoring.

[fennel-labs]

I think we should approach the testing from two directions: Integration tests for the overall architecture. And unit tests for the automatic dependency resolution and the connection of components (including the bridging to ROS). The latter requires refactoring of the rt_runner since the dependency resolution is part of the glue code right now, which is hard to test in an isolated way.

[fennel-labs]

Right now we don't have any known bugs (the runtime peaks and the overhead can't be detected by automated tests anyway, because they need an RT-kernel anyway)