hi Jannik,

rostest is designed to tear down and restart the system cleanly for
each <test>.  Your use case is a little different.  I recommend
putting multiple tests into the single <test> program that you
specify.  Unit test libraries (including gtest and pyunit) supply ways
to do multiple tests in a single program.  It means that you can't use
hztest directly, but rather would have to write, e.g., a Python script
to do the desired tests in sequence.

	brian.

On Fri, Apr 8, 2011 at 7:21 AM, Jannik Kett <jannik.kett@googlemail.com> wrote:
> Hello everyone,
>
> I work at Fraunhofer IPA in Stuttgart and use Hudson to run multiple tests
> (like hztest) on the Care-O-bot in Gazebo. I included for each component one
> test-file in its launch-file and therefore I can run all tests by starting
> the robot with 'rostest'. It works quite well but it needs a lot time
> because Gazebo restarts after each test.
> This is also a problem when I want to run a test with multiple steps. For
> example:
> - 1. step: Care-o-bot moves from home-position to the kitchen --> test if it
> arrived
> - 2. step: detecting an object and grasp it --> test if it grasps object
> - 3. step: deliver object to table --> test if object is on table
> If gazebo is restarting after each step, the results from the previous
> step(s) are missing.
> Is there any way to start Gazebo only once and run multiple tests without
> restarting Gazebo after each step?
>
> Thank you in advance for your help!
>
> Best regards, Jannik
>
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