aruco_pose: Convert largemap test to ros_pytest

aruco_pose/test/largemap.py

@@ -1,26 +1,19 @@
-#!/usr/bin/env python3
-import sys
-import unittest
-import json
 import rospy
-import rostest
+import pytest
 
 from sensor_msgs.msg import Image
 from visualization_msgs.msg import MarkerArray as VisMarkerArray
 
+@pytest.fixture
+def node():
+    return rospy.init_node('test_aruco_largemap', anonymous=True)
 
-class TestArucoPose(unittest.TestCase):
-    def setUp(self):
-        rospy.init_node('test_aruco_largemap', anonymous=True)
+def test_large_map_image(node):
+    img = rospy.wait_for_message('aruco_map/image', Image, timeout=5)
+    assert img.width == 2000
+    assert img.height == 2000
+    assert img.encoding in ('mono8', 'rgb8')
 
-    def test_map_image(self):
-        img = rospy.wait_for_message('aruco_map/image', Image, timeout=5)
-        self.assertEqual(img.width, 2000)
-        self.assertEqual(img.height, 2000)
-        self.assertIn(img.encoding, ('mono8', 'rgb8'))
-
-    def test_map_visualization(self):
-        vis = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
-
-
-rostest.rosrun('aruco_pose', 'test_aruco_largemap', TestArucoPose, sys.argv)
+def test_large_map_visualization(node):
+    vis = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
+    assert len(vis.markers) == 11

aruco_pose/test/largemap.test

@@ -9,5 +9,6 @@
         <param name="map" value="$(find aruco_pose)/test/largemap.txt"/>
     </node>
 
-    <test test-name="test_aruco_pose_largemap" pkg="aruco_pose" type="largemap.py"/>
+    <param name="test_module" value="$(find aruco_pose)/test/largemap.py"/>
+    <test test-name="test_node_pass" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>