Modules

A navigable index of every submodule shipped in the roboticks Python package. Each section links to the dedicated reference page.

roboticks/
├── __init__.py             # public re-exports
├── decorators/             # @confirms, @tags, @deadline, @requires_sim
├── assertions/             # rclpy-aware assertion helpers
├── fault_injection/        # drop / delay / kill / corrupt context managers
├── mcap_capture/           # per-test MCAP recorder
├── launch_testing/         # launch_testing thin wrappers
├── pytest_plugin/          # pytest11 entry point
├── reporters/              # JUnit-with-confirms writer + stitchers
└── wire/                   # SCHEMA_VERSION, schema loaders

`roboticks.decorators`

Source: decorators/__init__.py. Re-exported at the package root: from roboticks import confirms, tags, deadline, requires_sim.

Symbol	Type	Reference
`confirms(*req_ids)`	decorator factory	Decorators
`tags(*tags)`	decorator factory	Decorators
`deadline(*, milliseconds)`	decorator factory	Decorators
`requires_sim(engine, *, gpu)`	decorator factory	Decorators

No rclpy dependency; importable on any host.

`roboticks.assertions`

Source: assertions/__init__.py. rclpy-aware wait-and-assert helpers. Importing this module on a host without rclpy raises a clear RuntimeError.

Symbol	Reference
`assert_topic_published`	Assertions
`assert_service_response`	Assertions
`assert_action_result`	Assertions
`assert_param_equals`	Assertions
`assert_tf_transform`	Assertions

`roboticks.fault_injection`

Source: fault_injection/__init__.py. Context managers that manipulate the rclpy DDS layer for the duration of a with block.

Symbol	Reference
`drop_messages(topic, *, rate, seed=None)`	Fault injection
`delay_messages(topic, *, ms, jitter_ms=0)`	Fault injection
`kill_node(name, *, signal, wait_for_exit)`	Fault injection
`corrupt_topic(topic, *, mutator)`	Fault injection

Requires rclpy at call time; importable without it.

`roboticks.mcap_capture`

Source: mcap_capture/__init__.py. Per-test MCAP recording. Requires the mcap extra (pip install 'roboticks[mcap]').

Symbol	Reference
`mcap_capture(*, topics, path, upload_on, compression, ...)`	MCAP capture
`McapHandle`	MCAP capture

Re-exported at the package root: from roboticks import mcap_capture.

`roboticks.launch_testing`

Source: launch_testing/__init__.py. Thin wrappers around the standard ROS2 launch_testing module.

Symbol	Description
`make_node_action(package, executable, **kwargs)`	Builds a `launch_ros.actions.Node` with sensible defaults.
`generate_test_description(*actions, ready_event=None)`	Wraps a list of actions in the dance launch_testing expects.
`spin_node(node, *, within)`	Spins a single rclpy node for a bounded duration.

See Launch testing for tutorial.

`roboticks.pytest_plugin`

Source: pytest_plugin/__init__.py. Pytest11 entry-point plugin. Loaded automatically by pytest. Not normally imported directly.

Hook	Behaviour
`pytest_sessionstart`	Stamps `roboticks_schema_version` and SDK metadata.
`pytest_collection_modifyitems`	Scans for decorator attributes.
`pytest_runtest_setup`	Records fault-injection / mcap state at test start.
`pytest_runtest_makereport`	Writes `roboticks.*` properties via `user_properties`.
`pytest_addoption`	Registers `--no-roboticks-junit-extras`.

See Pytest plugin.

`roboticks.reporters`

Source: reporters/__init__.py. Standalone JUnit writers and stitchers, useful when not running under pytest.

Symbol	CLI	Description
`JUnitWriter`	—	Programmatic writer of JUnit-with-confirms.
`stitch_cpp_junit`	`roboticks-stitch-cpp-junit`	Merges a C++ `confirms.json` into a gtest JUnit XML.
`stitch_junit`	`roboticks-stitch-junit`	Back-fills a pytest JUnit XML by re-importing test modules and reading decorators.
`validate_junit`	`roboticks-validate-junit`	Validates JUnit XML against the XSD.

Used by the C++ workflow and the colcon test --event-handlers roboticks+ integration.

`roboticks.wire`

Source: wire/__init__.py. Schema version and on-disk schema-file accessors.

Symbol	Description
`SCHEMA_VERSION`	The integer the running SDK emits.
`JUNIT_XSD_PATH`	Path to the bundled XSD.
`RESULT_SCHEMA_PATH`	Path to the bundled JSON Schema.
`load_junit_xsd()`	Returns the XSD as a `lxml.etree.XMLSchema`.
`load_result_schema()`	Returns the JSON Schema as a dict.

See Wire contract.

Importing patterns

The top-level package re-exports the things you’ll use most:

from roboticks import (
    confirms, tags, deadline, requires_sim,   # decorators
    mcap_capture,                              # context manager
    __version__,                               # SDK version
)

Submodule imports are for the rest:

from roboticks.assertions import assert_topic_published
from roboticks.fault_injection import drop_messages
from roboticks.launch_testing import make_node_action

Module dependency map

wire is the leaf — every other module reads SCHEMA_VERSION from it. Decorators are leaf-free (no rclpy, no MCAP). Everything else has a runtime dependency on rclpy or the mcap extra.

Installation

pip install roboticks and [mcap] extra.

Decorators

The most-touched module.

C++ reference

The C++ counterpart.

Examples

End-to-end gallery.

​Modules

​roboticks.decorators

​roboticks.assertions

​roboticks.fault_injection

​roboticks.mcap_capture

​roboticks.launch_testing

​roboticks.pytest_plugin

​roboticks.reporters

​roboticks.wire

​Importing patterns

​Module dependency map

​Next