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Add sample & test for surface/convex_hull

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Kentaro Wada 2017-08-22 19:13:41 +00:00 committed by Paul Bovbel
parent f16207321b
commit bb2fa3f936
2 changed files with 41 additions and 0 deletions
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1
pcl_ros/CMakeLists.txt
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@ -204,6 +204,7 @@ if(CATKIN_ENABLE_TESTING)
add_rostest(samples/pcl_ros/filters/sample_statistical_outlier_removal.launch ARGS gui:=false)
add_rostest(samples/pcl_ros/filters/sample_voxel_grid.launch ARGS gui:=false)
add_rostest(samples/pcl_ros/segmentation/sample_extract_clusters.launch ARGS gui:=false)
add_rostest(samples/pcl_ros/surface/sample_convex_hull.launch ARGS gui:=false)
endif(CATKIN_ENABLE_TESTING)

40
pcl_ros/samples/pcl_ros/surface/sample_convex_hull.launch Normal file
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@ -0,0 +1,40 @@
<launch>
<arg name="gui" default="true" />
<!-- use voxel_grid for small cpu load in filtering -->
<include file="$(find pcl_ros)/samples/pcl_ros/filters/sample_voxel_grid.launch">
<arg name="gui" value="false" />
<arg name="test" value="false" />
<arg name="leaf_size" value="0.02" />
</include>
<node name="convex_hull"
pkg="nodelet" type="nodelet"
args="standalone pcl/ConvexHull2D">
<remap from="~input" to="voxel_grid/output" />
<rosparam>
</rosparam>
</node>
<test test-name="test_convex_hull"
name="test_convex_hull"
pkg="rostest" type="hztest">
<rosparam>
topic: /convex_hull/output
hz: 10
hzerror: 8
test_duration: 5.0
</rosparam>
</test>
<!-- TODO(wkentaro): Add sample visualization
<group if="$(arg gui)">
<node name="rviz"
pkg="rviz" type="rviz"
args="-d $(find pcl_ros)/samples/pcl_ros/surface/config/convex_hull.rviz">
</node>
</group>
-->
</launch>