[Peter Mitrano]

Digging up this thread because I think it's phenomenal.

am the current FRCSim developer. As FRCSim develops, this should hopefully become much easier to do. Gazebo can be run headless on a server, and since all the communication between WPILib and gazebo is done over Gazebo Transport, a message passing system built off protobuf, it should be way easier to write tests.

How would you guys approach testing with frcsim? Would you write junit tests that calls your robot code? Or would you run your robot code as-is, and write a seperate "supervisor" program that messages the the robot code and listens for the appropriate effect in gazebo? Both seem viable to me.