Migrate extract_indices filter (#394)
* - migrate extract_indices filter - add test to check if filter node/component output result Signed-off-by: Daisuke Sato <daisukes@cmu.edu> * add test_depend to package.xml Signed-off-by: Daisuke Sato <daisukes@cmu.edu> * add launch_testing_ros as test_depend too Signed-off-by: Daisuke Sato <daisukes@cmu.edu> * fixed test not to depend on ros2cli Signed-off-by: Daisuke Sato <daisukes@cmu.edu> --------- Signed-off-by: Daisuke Sato <daisukes@cmu.edu>
This commit is contained in:
Daisuke Sato
GitHub
parent
3b0cfd8529
commit
0c8e7dafce
@ -26,6 +26,7 @@ find_package(tf2_ros REQUIRED)
|
||||
set(dependencies
|
||||
pcl_conversions
|
||||
rclcpp
|
||||
rclcpp_components
|
||||
sensor_msgs
|
||||
geometry_msgs
|
||||
tf2
|
||||
@ -81,7 +82,7 @@ ament_target_dependencies(pcl_ros_tf
|
||||
#
|
||||
### Declare the pcl_ros_filters library
|
||||
add_library(pcl_ros_filters SHARED
|
||||
# src/pcl_ros/filters/extract_indices.cpp
|
||||
src/pcl_ros/filters/extract_indices.cpp
|
||||
src/pcl_ros/filters/filter.cpp
|
||||
# src/pcl_ros/filters/passthrough.cpp
|
||||
# src/pcl_ros/filters/project_inliers.cpp
|
||||
@ -92,6 +93,10 @@ add_library(pcl_ros_filters SHARED
|
||||
)
|
||||
target_link_libraries(pcl_ros_filters pcl_ros_tf ${PCL_LIBRARIES})
|
||||
ament_target_dependencies(pcl_ros_filters ${dependencies})
|
||||
rclcpp_components_register_node(pcl_ros_filters
|
||||
PLUGIN "pcl_ros::ExtractIndices"
|
||||
EXECUTABLE filter_extract_indices_node
|
||||
)
|
||||
class_loader_hide_library_symbols(pcl_ros_filters)
|
||||
#
|
||||
### Declare the pcl_ros_segmentation library
|
||||
@ -163,6 +168,7 @@ if(BUILD_TESTING)
|
||||
ament_lint_auto_find_test_dependencies()
|
||||
|
||||
find_package(ament_cmake_gtest REQUIRED)
|
||||
add_subdirectory(tests/filters)
|
||||
#add_rostest_gtest(test_tf_message_filter_pcl tests/test_tf_message_filter_pcl.launch src/test/test_tf_message_filter_pcl.cpp)
|
||||
#target_link_libraries(test_tf_message_filter_pcl ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
|
||||
#add_rostest(samples/pcl_ros/features/sample_normal_3d.launch ARGS gui:=false)
|
||||
|
||||
@ -40,9 +40,9 @@
|
||||
|
||||
// PCL includes
|
||||
#include <pcl/filters/extract_indices.h>
|
||||
|
||||
#include <mutex>
|
||||
#include <vector>
|
||||
#include "pcl_ros/filters/filter.hpp"
|
||||
#include "pcl_ros/ExtractIndicesConfig.hpp"
|
||||
|
||||
namespace pcl_ros
|
||||
{
|
||||
@ -53,9 +53,6 @@ namespace pcl_ros
|
||||
class ExtractIndices : public Filter
|
||||
{
|
||||
protected:
|
||||
/** \brief Pointer to a dynamic reconfigure service. */
|
||||
boost::shared_ptr<dynamic_reconfigure::Server<pcl_ros::ExtractIndicesConfig>> srv_;
|
||||
|
||||
/** \brief Call the actual filter.
|
||||
* \param input the input point cloud dataset
|
||||
* \param indices the input set of indices to use from \a input
|
||||
@ -63,10 +60,10 @@ protected:
|
||||
*/
|
||||
inline void
|
||||
filter(
|
||||
const PointCloud2::ConstPtr & input, const IndicesPtr & indices,
|
||||
const PointCloud2::ConstSharedPtr & input, const IndicesPtr & indices,
|
||||
PointCloud2 & output)
|
||||
{
|
||||
boost::mutex::scoped_lock lock(mutex_);
|
||||
std::lock_guard<std::mutex> lock(mutex_);
|
||||
pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
|
||||
pcl_conversions::toPCL(*(input), *(pcl_input));
|
||||
impl_.setInputCloud(pcl_input);
|
||||
@ -76,16 +73,13 @@ protected:
|
||||
pcl_conversions::moveFromPCL(pcl_output, output);
|
||||
}
|
||||
|
||||
/** \brief Child initialization routine.
|
||||
* \param nh ROS node handle
|
||||
* \param has_service set to true if the child has a Dynamic Reconfigure service
|
||||
/** \brief Parameter callback
|
||||
* \param params parameter values to set
|
||||
*/
|
||||
virtual bool
|
||||
child_init(ros::NodeHandle & nh, bool & has_service);
|
||||
rcl_interfaces::msg::SetParametersResult
|
||||
config_callback(const std::vector<rclcpp::Parameter> & params);
|
||||
|
||||
/** \brief Dynamic reconfigure service callback. */
|
||||
void
|
||||
config_callback(pcl_ros::ExtractIndicesConfig & config, uint32_t level);
|
||||
OnSetParametersCallbackHandle::SharedPtr callback_handle_;
|
||||
|
||||
private:
|
||||
/** \brief The PCL filter implementation used. */
|
||||
@ -93,6 +87,8 @@ private:
|
||||
|
||||
public:
|
||||
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
|
||||
|
||||
explicit ExtractIndices(const rclcpp::NodeOptions & options);
|
||||
};
|
||||
} // namespace pcl_ros
|
||||
|
||||
|
||||
@ -49,6 +49,12 @@
|
||||
<test_depend>ament_lint_auto</test_depend>
|
||||
<test_depend>ament_lint_common</test_depend>
|
||||
<test_depend>ament_cmake_gtest</test_depend>
|
||||
<test_depend>ament_cmake_pytest</test_depend>
|
||||
<test_depend>launch</test_depend>
|
||||
<test_depend>launch_ros</test_depend>
|
||||
<test_depend>launch_testing</test_depend>
|
||||
<test_depend>launch_testing_ros</test_depend>
|
||||
<test_depend>sensor_msgs</test_depend>
|
||||
|
||||
<!--
|
||||
<export>
|
||||
|
||||
@ -35,37 +35,51 @@
|
||||
*
|
||||
*/
|
||||
|
||||
#include <pluginlib/class_list_macros.h>
|
||||
#include "pcl_ros/filters/extract_indices.hpp"
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////
|
||||
bool
|
||||
pcl_ros::ExtractIndices::child_init(ros::NodeHandle & nh, bool & has_service)
|
||||
pcl_ros::ExtractIndices::ExtractIndices(const rclcpp::NodeOptions & options)
|
||||
: Filter("ExtractIndicesNode", options)
|
||||
{
|
||||
has_service = true;
|
||||
rcl_interfaces::msg::ParameterDescriptor neg_desc;
|
||||
neg_desc.name = "negative";
|
||||
neg_desc.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
|
||||
neg_desc.description = "Extract indices or the negative (all-indices)";
|
||||
declare_parameter(neg_desc.name, rclcpp::ParameterValue(false), neg_desc);
|
||||
|
||||
srv_ = boost::make_shared<dynamic_reconfigure::Server<pcl_ros::ExtractIndicesConfig>>(nh);
|
||||
dynamic_reconfigure::Server<pcl_ros::ExtractIndicesConfig>::CallbackType f = boost::bind(
|
||||
&ExtractIndices::config_callback, this, _1, _2);
|
||||
srv_->setCallback(f);
|
||||
// Validate initial values using same callback
|
||||
callback_handle_ =
|
||||
add_on_set_parameters_callback(
|
||||
std::bind(&ExtractIndices::config_callback, this, std::placeholders::_1));
|
||||
|
||||
use_indices_ = true;
|
||||
return true;
|
||||
}
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////
|
||||
void
|
||||
pcl_ros::ExtractIndices::config_callback(pcl_ros::ExtractIndicesConfig & config, uint32_t level)
|
||||
{
|
||||
boost::mutex::scoped_lock lock(mutex_);
|
||||
|
||||
if (impl_.getNegative() != config.negative) {
|
||||
impl_.setNegative(config.negative);
|
||||
NODELET_DEBUG(
|
||||
"[%s::config_callback] Setting the extraction to: %s.", getName().c_str(),
|
||||
(config.negative ? "indices" : "everything but the indices"));
|
||||
std::vector<std::string> param_names{neg_desc.name};
|
||||
auto result = config_callback(get_parameters(param_names));
|
||||
if (!result.successful) {
|
||||
throw std::runtime_error(result.reason);
|
||||
}
|
||||
}
|
||||
|
||||
typedef pcl_ros::ExtractIndices ExtractIndices;
|
||||
PLUGINLIB_EXPORT_CLASS(ExtractIndices, nodelet::Nodelet);
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////
|
||||
rcl_interfaces::msg::SetParametersResult
|
||||
pcl_ros::ExtractIndices::config_callback(const std::vector<rclcpp::Parameter> & params)
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(mutex_);
|
||||
|
||||
for (const rclcpp::Parameter & param : params) {
|
||||
if (param.get_name() == "negative") {
|
||||
// Check the current value for the negative flag
|
||||
if (impl_.getNegative() != param.as_bool()) {
|
||||
RCLCPP_DEBUG(
|
||||
get_logger(), "Setting the filter negative flag to: %s.",
|
||||
param.as_bool() ? "true" : "false");
|
||||
// Call the virtual method in the child
|
||||
impl_.setNegative(param.as_bool());
|
||||
}
|
||||
}
|
||||
}
|
||||
rcl_interfaces::msg::SetParametersResult result;
|
||||
result.successful = true;
|
||||
return result;
|
||||
}
|
||||
|
||||
#include "rclcpp_components/register_node_macro.hpp"
|
||||
RCLCPP_COMPONENTS_REGISTER_NODE(pcl_ros::ExtractIndices)
|
||||
|
||||
35
pcl_ros/tests/filters/CMakeLists.txt
Normal file
35
pcl_ros/tests/filters/CMakeLists.txt
Normal file
@ -0,0 +1,35 @@
|
||||
find_package(ament_cmake_pytest REQUIRED)
|
||||
|
||||
# build dummy publisher node and component
|
||||
add_library(dummy_topics SHARED
|
||||
dummy_topics.cpp
|
||||
)
|
||||
target_link_libraries(dummy_topics ${PCL_LIBRARIES})
|
||||
ament_target_dependencies(dummy_topics
|
||||
rclcpp
|
||||
rclcpp_components
|
||||
pcl_conversions
|
||||
sensor_msgs
|
||||
PCL
|
||||
)
|
||||
|
||||
# generate test ament index to locate dummy_topics comonent from tests
|
||||
set(components "")
|
||||
set(components "${components}pcl_ros_tests_filters::DummyTopics;$<TARGET_FILE:dummy_topics>\n")
|
||||
file(GENERATE
|
||||
OUTPUT
|
||||
"${CMAKE_CURRENT_BINARY_DIR}/test_ament_index/share/ament_index/resource_index/rclcpp_components/pcl_ros_tests_filters"
|
||||
CONTENT "${components}")
|
||||
|
||||
ament_add_pytest_test(test_filter_extract_indices_node_component
|
||||
test_filter_component.py
|
||||
ENV DUMMY_PLUGIN=pcl_ros_tests_filters::DummyTopics
|
||||
FILTER_PLUGIN=pcl_ros::ExtractIndices
|
||||
APPEND_ENV AMENT_PREFIX_PATH=${CMAKE_CURRENT_BINARY_DIR}/test_ament_index
|
||||
)
|
||||
ament_add_pytest_test(test_filter_extract_indices_node
|
||||
test_filter_executable.py
|
||||
ENV DUMMY_PLUGIN=pcl_ros_tests_filters::DummyTopics
|
||||
FILTER_EXECUTABLE=filter_extract_indices_node
|
||||
APPEND_ENV AMENT_PREFIX_PATH=${CMAKE_CURRENT_BINARY_DIR}/test_ament_index
|
||||
)
|
||||
109
pcl_ros/tests/filters/dummy_topics.cpp
Normal file
109
pcl_ros/tests/filters/dummy_topics.cpp
Normal file
@ -0,0 +1,109 @@
|
||||
/*
|
||||
* Copyright (c) 2022 Carnegie Mellon University
|
||||
* All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
*
|
||||
* * Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* * Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in the
|
||||
* documentation and/or other materials provided with the distribution.
|
||||
* * Neither the name of Carnegie Mellon University nor the names of its
|
||||
* contributors may be used to endorse or promote products derived from
|
||||
* this software without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
||||
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
|
||||
#include <pcl/point_cloud.h>
|
||||
#include <pcl/point_types.h>
|
||||
#include <pcl_conversions/pcl_conversions.h>
|
||||
#include <rclcpp/rclcpp.hpp>
|
||||
#include <sensor_msgs/msg/point_cloud2.hpp>
|
||||
#include <pcl_msgs/msg/point_indices.hpp>
|
||||
#include <pcl_msgs/msg/model_coefficients.hpp>
|
||||
|
||||
using namespace std::chrono_literals;
|
||||
|
||||
namespace pcl_ros_tests_filters
|
||||
{
|
||||
class DummyTopics : public rclcpp::Node
|
||||
{
|
||||
public:
|
||||
explicit DummyTopics(const rclcpp::NodeOptions & options);
|
||||
|
||||
private:
|
||||
void timer_callback();
|
||||
rclcpp::TimerBase::SharedPtr timer_;
|
||||
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr point_cloud2_pub_;
|
||||
rclcpp::Publisher<pcl_msgs::msg::PointIndices>::SharedPtr indices_pub_;
|
||||
rclcpp::Publisher<pcl_msgs::msg::ModelCoefficients>::SharedPtr model_pub_;
|
||||
size_t count_;
|
||||
};
|
||||
|
||||
DummyTopics::DummyTopics(const rclcpp::NodeOptions & options)
|
||||
: Node("dummy_point_cloud2_publisher", options), count_(0)
|
||||
{
|
||||
point_cloud2_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("point_cloud2", 10);
|
||||
indices_pub_ = this->create_publisher<pcl_msgs::msg::PointIndices>("indices", 10);
|
||||
model_pub_ = this->create_publisher<pcl_msgs::msg::ModelCoefficients>("model", 10);
|
||||
timer_ = this->create_wall_timer(
|
||||
100ms, std::bind(&DummyTopics::timer_callback, this));
|
||||
}
|
||||
|
||||
void DummyTopics::timer_callback()
|
||||
{
|
||||
builtin_interfaces::msg::Time now_msg;
|
||||
now_msg = get_clock()->now();
|
||||
|
||||
sensor_msgs::msg::PointCloud2 point_cloud2_msg;
|
||||
|
||||
pcl::PointCloud<pcl::PointXYZ> random_pcl;
|
||||
|
||||
unsigned int global_seed = 100;
|
||||
for (int v = 0; v < 1000; ++v) {
|
||||
pcl::PointXYZ newPoint;
|
||||
newPoint.x = (rand_r(&global_seed) * 100.0) / RAND_MAX;
|
||||
newPoint.y = (rand_r(&global_seed) * 100.0) / RAND_MAX;
|
||||
newPoint.z = (rand_r(&global_seed) * 100.0) / RAND_MAX;
|
||||
random_pcl.points.push_back(newPoint);
|
||||
}
|
||||
|
||||
// publish point cloud
|
||||
pcl::toROSMsg<pcl::PointXYZ>(random_pcl, point_cloud2_msg);
|
||||
point_cloud2_msg.header.stamp = now_msg;
|
||||
point_cloud2_pub_->publish(point_cloud2_msg);
|
||||
|
||||
// publish indices
|
||||
pcl_msgs::msg::PointIndices indices_msg;
|
||||
indices_msg.header.stamp = now_msg;
|
||||
indices_msg.indices.push_back(0);
|
||||
indices_pub_->publish(indices_msg);
|
||||
|
||||
// publish model
|
||||
pcl_msgs::msg::ModelCoefficients model_msg;
|
||||
model_msg.header.stamp = now_msg;
|
||||
model_msg.values.push_back(0);
|
||||
model_msg.values.push_back(0);
|
||||
model_msg.values.push_back(1);
|
||||
model_msg.values.push_back(0);
|
||||
model_pub_->publish(model_msg);
|
||||
}
|
||||
|
||||
} // namespace pcl_ros_tests_filters
|
||||
|
||||
#include "rclcpp_components/register_node_macro.hpp"
|
||||
RCLCPP_COMPONENTS_REGISTER_NODE(pcl_ros_tests_filters::DummyTopics)
|
||||
90
pcl_ros/tests/filters/test_filter_component.py
Normal file
90
pcl_ros/tests/filters/test_filter_component.py
Normal file
@ -0,0 +1,90 @@
|
||||
#
|
||||
# Copyright (c) 2022 Carnegie Mellon University
|
||||
# All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions are met:
|
||||
#
|
||||
# * Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# * Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in the
|
||||
# documentation and/or other materials provided with the distribution.
|
||||
# * Neither the name of Carnegie Mellon University nor the names of its
|
||||
# contributors may be used to endorse or promote products derived from
|
||||
# this software without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
||||
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
|
||||
import os
|
||||
import unittest
|
||||
|
||||
import launch
|
||||
import launch.actions
|
||||
import launch_ros.actions
|
||||
import launch_testing.actions
|
||||
import launch_testing.markers
|
||||
import pytest
|
||||
|
||||
from launch_testing_ros import WaitForTopics
|
||||
from sensor_msgs.msg import PointCloud2
|
||||
|
||||
|
||||
@pytest.mark.launch_test
|
||||
@launch_testing.markers.keep_alive
|
||||
def generate_test_description():
|
||||
dummy_plugin = os.getenv('DUMMY_PLUGIN')
|
||||
filter_plugin = os.getenv('FILTER_PLUGIN')
|
||||
use_indices = os.getenv('USE_INDICES')
|
||||
approximate_sync = os.getenv('APPROXIMATE_SYNC')
|
||||
|
||||
parameters = {}
|
||||
if use_indices:
|
||||
parameters['use_indices'] = (use_indices == 'true')
|
||||
if approximate_sync:
|
||||
parameters['approximate_sync'] = (approximate_sync == 'true')
|
||||
print(parameters)
|
||||
|
||||
return launch.LaunchDescription([
|
||||
launch_ros.actions.ComposableNodeContainer(
|
||||
name='filter_container',
|
||||
namespace='',
|
||||
package='rclcpp_components',
|
||||
executable='component_container',
|
||||
composable_node_descriptions=[
|
||||
launch_ros.descriptions.ComposableNode(
|
||||
package='pcl_ros_tests_filters',
|
||||
plugin=dummy_plugin,
|
||||
name='dummy_publisher',
|
||||
),
|
||||
launch_ros.descriptions.ComposableNode(
|
||||
package='pcl_ros',
|
||||
plugin=filter_plugin,
|
||||
name='filter_node',
|
||||
remappings=[('/input', '/point_cloud2')],
|
||||
parameters=[parameters],
|
||||
),
|
||||
],
|
||||
output='screen',
|
||||
),
|
||||
launch_testing.actions.ReadyToTest()
|
||||
])
|
||||
|
||||
|
||||
class TestFilter(unittest.TestCase):
|
||||
def test_filter_output(self):
|
||||
wait_for_topics = WaitForTopics([('output', PointCloud2)], timeout=5.0)
|
||||
assert wait_for_topics.wait()
|
||||
assert 'output' in wait_for_topics.topics_received(), "Didn't receive message"
|
||||
wait_for_topics.shutdown()
|
||||
60
pcl_ros/tests/filters/test_filter_executable.py
Normal file
60
pcl_ros/tests/filters/test_filter_executable.py
Normal file
@ -0,0 +1,60 @@
|
||||
import os
|
||||
import unittest
|
||||
|
||||
import launch
|
||||
import launch.actions
|
||||
import launch_ros.actions
|
||||
import launch_testing.actions
|
||||
import launch_testing.markers
|
||||
import pytest
|
||||
|
||||
from launch_testing_ros import WaitForTopics
|
||||
from sensor_msgs.msg import PointCloud2
|
||||
|
||||
|
||||
@pytest.mark.launch_test
|
||||
@launch_testing.markers.keep_alive
|
||||
def generate_test_description():
|
||||
dummy_plugin = os.getenv('DUMMY_PLUGIN')
|
||||
filter_executable = os.getenv('FILTER_EXECUTABLE')
|
||||
use_indices = os.getenv('USE_INDICES')
|
||||
approximate_sync = os.getenv('APPROXIMATE_SYNC')
|
||||
|
||||
ros_arguments = ["-r", "input:=point_cloud2"]
|
||||
if use_indices:
|
||||
ros_arguments.extend(["-p", "use_indices:={}".format(use_indices)])
|
||||
if approximate_sync:
|
||||
ros_arguments.extend(["-p", "approximate_sync:={}".format(approximate_sync)])
|
||||
|
||||
return launch.LaunchDescription([
|
||||
|
||||
launch_ros.actions.ComposableNodeContainer(
|
||||
name='filter_container',
|
||||
namespace='',
|
||||
package='rclcpp_components',
|
||||
executable='component_container',
|
||||
composable_node_descriptions=[
|
||||
launch_ros.descriptions.ComposableNode(
|
||||
package='pcl_ros_tests_filters',
|
||||
plugin=dummy_plugin,
|
||||
name='dummy_publisher',
|
||||
),
|
||||
],
|
||||
output='screen',
|
||||
),
|
||||
launch_ros.actions.Node(
|
||||
package='pcl_ros',
|
||||
executable=filter_executable,
|
||||
output="screen",
|
||||
ros_arguments=ros_arguments
|
||||
),
|
||||
launch_testing.actions.ReadyToTest()
|
||||
])
|
||||
|
||||
|
||||
class TestFilter(unittest.TestCase):
|
||||
def test_filter_output(self):
|
||||
wait_for_topics = WaitForTopics([('output', PointCloud2)], timeout=5.0)
|
||||
assert wait_for_topics.wait()
|
||||
assert 'output' in wait_for_topics.topics_received(), "Didn't receive message"
|
||||
wait_for_topics.shutdown()
|
||||
Loading…
x
Reference in New Issue
Block a user