The Automated Test Framework (ATF)

``` | The 
```interface
``` metric checks if an interfaces (nodes, publishers, subscribers, service servers, action servers) matches its specification. | [bool] | snap |
| 
```publish_rate
``` | The 
```publish_rate
``` metric measures the publising rate of a topic   | [1/sec] | span |
| 
```tf_acceleration_translation
```   | The 
```tf_acceleration_translation
``` metric measures the cartesian acceleration of a TF frame with respect to another frame.    |  [m/s^2] |  span |
| 
```tf_distance_rotation
```      | The 
```tf_distance_rotation
``` metric measures the cartesian angular distance of a TF frame with respect to another frame at the end of a testblock.    |  [rad] | snap |
| 
```tf_distance_translation
```   | The 
```tf_distance_translation
``` metric measures the cartesian distance of a TF frame with respect to another frame at the end of a testblock.    |  [m] | snap |
| 
```tf_jerk_translation
```   | The 
```tf_jerk_translation
``` metric measures the cartesian jerk of a TF frame with respect to another frame.    |  [m/s^3] |  span |
| 
```tf_length_rotation
```        | The 
```tf_length_rotation
``` metric measures the cartesian angular path (angular distance integrated over time) of a TF frame with respect to another frame.    |  [rad] | span |
| 
```tf_length_translation
```     | The 
```tf_length_translation
``` metric measures the cartesian path (distance integrated over time) of a TF frame with respect to another frame.    |  [m] | span |
| 
```tf_velocity_translation
```   | The 
```tf_velocity_translation
``` metric measures the cartesian velocity of a TF frame with respect to another frame.    |  [m/s] |  span |
| 
```time
```    | The 
```time
``` metric measures the elapsed time. | [sec] | span |
| 
```topic_data
```      | The 
```topic_data
``` metric fetches a numerical data filed from a message    |  [any] | span, snap |
| 
```user_result
```      | The result for the 
```user_result
``` metric can be set from the user within the `application.py`.    |  [any] | span, snap |
See full list of implemented metrics at https://github.com/floweisshardt/atf/tree/master/atf_metrics.

Further metrics (in development):

| Metric        | Description   | Unit  | Mode (span, snap) |
|:-------------:|:--------------|:-----:|:--------------------------:|
| 
```resources
```    | The 
```resources
``` metric measures the resource consumption of a node on the operating system level (CPU, RAM, IO). | [%], [MB], [MB/sec] | snap |
| 
```obstacle_distance
``` | The 
```obstacle_distance
``` metric measures the distance between two meshes   | [m] | snap |
| 
```message_match
``` | The 
```message_match
``` metric checks if a message content matches its desired content. | [bool] | snap |

## Installation
For installation instruction see [ATF Installation](doc/Installation.md).

## Using the ATF (by examples)
For examples how to use the ATF see [ATF Examples](doc/Examples.md)

## Contributing to the ATF
For examples how to extend the ATF with your own contribution see [ATF Contribution](doc/Contribution.md)

## Acknowledgements
The work leading to these results has received funding from the European Community's Seventh Framework Program (FP7/2007-2013) under grant agreement no 609206 [Factory-in-a-Day](http://www.factory-in-a-day.eu/) and the German Federal Ministry for Economic Affairs and Energy under grant agreement no 01MA13001A [ReApp](http://www.reapp-projekt.de/).