unit tests and changes to start script

[aftahiArdi]

Description

Added Unit tests for all the nodes in ROS, and fixed some issues in the start script

Resolves # (issue)

Type of change

What types of changes does your code introduce to this project?

• Bugfix (non-breaking change which fixes an issue)
• [ x] New feature (non-breaking change which adds functionality)
• [x ] Breaking change (fix or feature that would cause existing functionality to not work as expected)
• Documentation Update (if none of the other choices apply)

How Has This Been Tested?

This is the tests being added

Checklist

Put an x in the boxes that apply. You can also fill these out after creating the PR. This is simply a reminder of what we are going to look for before merging your code.

• My code follows the style guidelines of this project
• I have performed a self-review of my code
• I have commented my code, particularly in hard-to-understand areas
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• [x ] I have added tests that prove my fix is effective or that my feature works
• New and existing unit tests pass locally with my changes
• Any dependent changes have been merged and published in downstream modules

[Michael-R-Dickinson]

lgtm