aruco_pose: improve tests

aruco_pose/test/basic.py

@@ -65,6 +65,9 @@ class TestArucoPose(unittest.TestCase):
     def test_visualization(self):
         vis = rospy.wait_for_message('aruco_detect/visualization', VisMarkerArray, timeout=5)
 
+    def test_debug(self):
+        img = rospy.wait_for_message('aruco_detect/debug', Image, timeout=5)
+
     def test_map(self):
         pose = rospy.wait_for_message('aruco_map/pose', PoseWithCovarianceStamped, timeout=5)
         assert pose.header.frame_id == 'main_camera_optical'
@@ -76,6 +79,15 @@ class TestArucoPose(unittest.TestCase):
         assert pose.pose.pose.orientation.z == approx(-0.0300861070302)
         assert pose.pose.pose.orientation.w == approx(0.0482143590507)
 
+    def test_map_image(self):
+        img = rospy.wait_for_message('aruco_map/image', Image, timeout=5)
+
+    def test_map_visualization(self):
+        vis = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
+
+    def test_map_debug(self):
+        img = rospy.wait_for_message('aruco_map/debug', Image, timeout=5)
+
     # def test_transforms(self):
     #     pass
 

aruco_pose/test/basic.test

@@ -20,7 +20,7 @@
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="markers" to="aruco_detect/markers"/>
         <param name="type" value="map"/>
-        <param name="map" value="$(find aruco_pose)/map/map.txt"/>
+        <param name="map" value="$(find aruco_pose)/test/basic.txt"/>
     </node>
 
     <test test-name="test_aruco_pose" pkg="aruco_pose" type="basic.py"/>

aruco_pose/test/basic.txt

@@ -0,0 +1,5 @@
+1	0.33	0	0	0	0	0	0
+2	0.33	1	0	0	0	0	0
+3	0.33	0	1	0	0	0	0
+4	0.33	1	1	0	0	0	0
+10	0.5	0.5	2	0	1.2	0	0