I've been working on a project that (I believe) simplifies testing nodes. I have a working proof of concept that permits one to simply supply inputs (currently, just messages but extensible) and verify outputs to expected values. I've also been experimenting with methods of supplying parametric rules (near mappings) between input and output for testing a full parameter space.
I'm looking for feedback, and in the future some testers, to see which direction I should grow this project.
The first and biggest pain point I see in my mind is defining tests. Rather than supplying a few test cases, I'd love to be able to just give the functional mapping of input to output and say "make sure the node follows this". However for even relatively few degrees of freedom, this becomes costly in time.
Take for example a node that filters a Twist message `cmd_vel`. Let's propose it does two things, first it clamps the message to a certain velocity magnitude. Then, given another message it subscribes to, it attenuates the acceleration
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