Add template documentation

package_generator_templates/README.md

@@ -6,7 +6,7 @@ This package gathers templates proposed for the `package_generator`.
 
 **Affiliation**: Tecnalia Research and Innovation, Spain
 
-**License**: This project is under the pache 2.0 License.
+**License**: This project is under the Apache 2.0 License.
 See [LICENSE.md](../LICENSE.md) for more details.
 
 ## Getting Started
@@ -37,6 +37,7 @@ Its value is the name of the template folder within the [templates](templates) d
 * [cpp_service_server](templates/cpp_service_server/README.md): C++ node acting as a service server.
 * `python_service_server`: similar life-cycle for python.
 * [msg_srv_action](templates/msg_srv_action/README.md): Basic layers for creating an interface package
+* [nodetest](templates/nodetest/README.md): to create a package dedicated to testing.
 
 ## Q & A
 

package_generator_templates/templates/nodetest/README.md

@@ -0,0 +1,40 @@
+# nodetest template
+
+Template for generating pure node testing packages.
+
+Relies on the testing tools provided by [rostest](http://wiki.ros.org/rostest).
+
+## XML specification
+
+The dictionary used in the xml specification is defined in [config/dictionary.html].
+To generate an empty spec file, one can use:
+
+```shell
+rosrun package_generator generate_xml_skel nodetest filename.ros_package
+```
+
+### Package attributes
+
+The required are the standard ones: `name`, `author`, `author_email`, `description`, `license` and `copyright`.
+
+### Component attributes
+
+Here a _component_ refers to a _node_ we want to test
+
+* `package`: package to which the node belongs to.
+* `name`: name of the node to test
+
+### Component interface
+
+**publisher**: to verify that a message is at least published once.
+
+* `name`: topic name to which the message is being published.
+
+**cyclicPublisher**: to verify a message is being published at a given frequency
+
+* `name`: topic name to which the message is being published.
+* `frequency`: expected publication frequency
+
+**dynParameter**: to verify a dynamic parameter is being defined by the component
+
+* `name`: name of the dynamic parameter