mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-12 04:29:49 +08:00
matlabbe
82f0754bf7
* rtabmap_demos tests and docs * added bag testing * added rtabmap_examples launch tests * updating demo bag download paths * added netherdrone demo * Fixed rgb-only callback with lidar rejected. Updated lidar params * Added back OrbitOriented rviz view to ros2, with optional octomap wll clipping * fixing ci * lidar demo added intermediate_nodes option * added netherdrone as demo test * running rtabmap_demos tests on ci * added rtabmap_launch tests, fixed ground_truth_base_frame_id usage * ficing rolling * updating demo test harnest * densify golden trajectories to avoid tf missing * fixing tf steps * updated min icp ratio for netherdrone demo * fixing image_transport arg->params * export pose opt=0 * lets process all frames * updated netherdrone golden * fixing publishers queue size just for tests * added playdback demo doc * Adding more logs to debug ci * Fixing QOS for CI to reliable, added find-object demo test * name threads * fixing camera info expected transient on lyrical/rolling. Fixing find_object not appearing idle * 30 Hz polling backward comp * fixing test tf sim lock * fixing lyrical qos bag parsing * faster replay * lockstep * fixing clock deadlock * Added test on shutdown * updated netherdrone golden poses * Extended stereo outdoor test * updated shutdown test * updated test * multi-thread flaky test * adding backtrace when test fails * increased closure slack for netherdrone * g2o gauss newton on stereo * adjusted maximum optimizer iterations * updated default iterations * Added netherdrone in list of demos
64 lines
2.9 KiB
Python
64 lines
2.9 KiB
Python
"""
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Dry-run every launch file of a package, with its default arguments and with each of its
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switches flipped, and check what it would start. See launch_dry_run.py, next to this file.
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Installed with rtabmap_launch, and run by each package whose launch files it checks,
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which names itself in RTABMAP_LAUNCH_TEST_PACKAGE (see their CMakeLists.txt): the
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installed launch files of that package are the ones checked.
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A launch file is only checked as far as this machine can resolve it: the drivers or
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simulators that are not installed are stubbed, and the test says which.
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"""
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import os
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import warnings
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from pathlib import Path
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import pytest
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from ament_index_python.packages import get_package_share_directory
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from launch_dry_run import check_launch_file, declared_arguments, dry_run, launch_files
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PACKAGE = os.environ.get('RTABMAP_LAUNCH_TEST_PACKAGE', 'rtabmap_launch')
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LAUNCH_DIR = Path(get_package_share_directory(PACKAGE)) / 'launch'
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LAUNCH_FILES = launch_files(LAUNCH_DIR)
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@pytest.mark.parametrize('launch_file', LAUNCH_FILES)
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def test_launch_file(launch_file):
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failures, stubbed = check_launch_file(PACKAGE, launch_file)
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if stubbed:
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warnings.warn(f'{launch_file}: not installed, stubbed: {", ".join(sorted(stubbed))}')
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assert not failures, f'{launch_file}:\n ' + '\n '.join(failures)
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def _with_ground_truth_arguments(launch_file: str) -> bool:
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names = {a.name for a in declared_arguments(str(LAUNCH_DIR / launch_file))}
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return {'frame_id', 'ground_truth_frame_id', 'ground_truth_base_frame_id'} <= names
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GROUND_TRUTH_LAUNCH_FILES = [f for f in LAUNCH_FILES if _with_ground_truth_arguments(f)]
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# Where a launch file declares frame_id and the ground truth's frames, the robot frame of
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# the ground truth defaults to frame_id + "_gt", as in the nodes; set empty, it reaches the
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# nodes empty, which turns the ground truth off. Defined only where there is one: an empty
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# parametrization would be reported as skipped.
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if GROUND_TRUTH_LAUNCH_FILES:
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@pytest.mark.parametrize('launch_file', GROUND_TRUTH_LAUNCH_FILES)
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@pytest.mark.parametrize('arguments, expected', [
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({}, 'base_footprint_gt'),
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({'ground_truth_base_frame_id': 'tracker'}, 'tracker'),
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({'ground_truth_base_frame_id': ''}, ''),
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], ids=['default', 'set', 'empty'])
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def test_ground_truth_base_frame_id(launch_file, arguments, expected):
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arguments = dict(arguments, frame_id='base_footprint', ground_truth_frame_id='world')
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result = dry_run(str(LAUNCH_DIR / launch_file), arguments)
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assert not result.problems, '\n'.join(result.problems)
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given = {s.describe(): s.parameters.get('ground_truth_base_frame_id')
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for s in result.started if 'ground_truth_frame_id' in s.parameters}
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assert given, f'{launch_file} starts no node with a ground truth'
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for node, value in given.items():
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assert value == expected, \
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f'{node}: ground_truth_base_frame_id={value!r}, expected {expected!r}'
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