migrate passthrough and project_inliers filters (#395)

* migrate passthrough and project_inliers filters

Signed-off-by: Daisuke Sato <daisukes@cmu.edu>

* - remove throwing runtime_error (result always true)
- use get_subscription_count()

Signed-off-by: Daisuke Sato <daisukes@cmu.edu>

* change comparison operator

Signed-off-by: Daisuke Sato <daisukes@cmu.edu>

---------

Signed-off-by: Daisuke Sato <daisukes@cmu.edu>

pcl_ros/tests/filters/CMakeLists.txt

@@ -21,15 +21,44 @@ 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 components
+ament_add_pytest_test(test_pcl_ros::ExtractIndices
   test_filter_component.py
   ENV DUMMY_PLUGIN=pcl_ros_tests_filters::DummyTopics
       FILTER_PLUGIN=pcl_ros::ExtractIndices
   APPEND_ENV AMENT_PREFIX_PATH=${CMAKE_CURRENT_BINARY_DIR}/test_ament_index
 )
+ament_add_pytest_test(test_pcl_ros::PassThrough
+  test_filter_component.py
+  ENV DUMMY_PLUGIN=pcl_ros_tests_filters::DummyTopics
+      FILTER_PLUGIN=pcl_ros::PassThrough
+  APPEND_ENV AMENT_PREFIX_PATH=${CMAKE_CURRENT_BINARY_DIR}/test_ament_index
+)
+ament_add_pytest_test(test_pcl_ros::ProjectInliers
+  test_filter_component.py
+  ENV DUMMY_PLUGIN=pcl_ros_tests_filters::DummyTopics
+      FILTER_PLUGIN=pcl_ros::ProjectInliers
+      PARAMETERS={'model_type':0}
+  APPEND_ENV AMENT_PREFIX_PATH=${CMAKE_CURRENT_BINARY_DIR}/test_ament_index
+)
+
+# test executables
 ament_add_pytest_test(test_filter_extract_indices_node
   test_filter_executable.py
   ENV DUMMY_PLUGIN=pcl_ros_tests_filters::DummyTopics
       FILTER_EXECUTABLE=filter_extract_indices_node
   APPEND_ENV AMENT_PREFIX_PATH=${CMAKE_CURRENT_BINARY_DIR}/test_ament_index
 )
+ament_add_pytest_test(test_filter_passthrough_node
+  test_filter_executable.py
+  ENV DUMMY_PLUGIN=pcl_ros_tests_filters::DummyTopics
+      FILTER_EXECUTABLE=filter_passthrough_node
+  APPEND_ENV AMENT_PREFIX_PATH=${CMAKE_CURRENT_BINARY_DIR}/test_ament_index
+)
+ament_add_pytest_test(test_filter_project_inliers_node
+  test_filter_executable.py
+  ENV DUMMY_PLUGIN=pcl_ros_tests_filters::DummyTopics
+      FILTER_EXECUTABLE=filter_project_inliers_node
+      PARAMETERS={'model_type':0}
+  APPEND_ENV AMENT_PREFIX_PATH=${CMAKE_CURRENT_BINARY_DIR}/test_ament_index
+)

pcl_ros/tests/filters/test_filter_component.py

@@ -27,6 +27,7 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 
+import ast
 import os
 import unittest
 
@@ -46,14 +47,8 @@ from sensor_msgs.msg import PointCloud2
 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 = ast.literal_eval(os.getenv('PARAMETERS')) if 'PARAMETERS' in os.environ else {}
 
-    parameters = {}
-    if use_indices:
-        parameters['use_indices'] = (use_indices == 'true')
-    if approximate_sync:
-        parameters['approximate_sync'] = (approximate_sync == 'true')
     print(parameters)
 
     return launch.LaunchDescription([

pcl_ros/tests/filters/test_filter_executable.py

@@ -1,3 +1,33 @@
+#
+# 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 ast
 import os
 import unittest
 
@@ -17,14 +47,11 @@ from sensor_msgs.msg import PointCloud2
 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')
+    parameters = ast.literal_eval(os.getenv('PARAMETERS')) if 'PARAMETERS' in os.environ else {}
 
     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)])
+    for key in parameters.keys():
+        ros_arguments.extend(["-p", "{}:={}".format(key, parameters[key])])
 
     return launch.LaunchDescription([