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Use pytest for tests (#133)

Browse Source 
* aruco_pose: use pytest

* Use ros_pytest

* Add ros_pytest to rosdep

* aruco_pose: compare floats more roughly in pytest

* aruco_pose: rewrite all the rest tests in pytest
This commit is contained in:
Oleg Kalachev
2019-06-28 17:40:40 +03:00
committed by GitHub
parent 82649cbe20
commit 9c9ac3150d
10 changed files with 148 additions and 186 deletions
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1
aruco_pose/package.xml
View File

@@ -30,6 +30,7 @@
<depend>rostest</depend>
<test_depend>image_publisher</test_depend>
<test_depend>ros_pytest</test_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>

157
aruco_pose/test/basic.py
View File

@@ -1,9 +1,5 @@
#!/usr/bin/env python
import sys
import unittest
import json
import rospy
import rostest
import pytest
from geometry_msgs.msg import PoseWithCovarianceStamped
from sensor_msgs.msg import Image
@@ -11,91 +7,88 @@ from aruco_pose.msg import MarkerArray
from visualization_msgs.msg import MarkerArray as VisMarkerArray
class TestArucoPose(unittest.TestCase):
def setUp(self):
rospy.init_node('test_aruco_detect', anonymous=True)
@pytest.fixture
def node():
return rospy.init_node('aruco_pose_test', anonymous=True)
def test_markers(self):
markers = rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=5)
self.assertEqual(len(markers.markers), 4)
self.assertEqual(markers.header.frame_id, 'main_camera_optical')
def approx(expected):
return pytest.approx(expected, abs=1e-4) # compare floats more roughly
self.assertEqual(markers.markers[0].id, 2)
self.assertAlmostEqual(markers.markers[0].length, 0.33, places=4)
self.assertAlmostEqual(markers.markers[0].pose.position.x, 0.36706567854, places=4)
self.assertAlmostEqual(markers.markers[0].pose.position.y, 0.290484516644, places=4)
self.assertAlmostEqual(markers.markers[0].pose.position.z, 2.18787602301, places=4)
self.assertAlmostEqual(markers.markers[0].pose.orientation.x, 0.993997406299, places=4)
self.assertAlmostEqual(markers.markers[0].pose.orientation.y, -0.00532003481626, places=4)
self.assertAlmostEqual(markers.markers[0].pose.orientation.z, -0.107390951553, places=4)
self.assertAlmostEqual(markers.markers[0].pose.orientation.w, 0.0201999263402, places=4)
self.assertAlmostEqual(markers.markers[0].c1.x, 415.557739258, places=4)
self.assertAlmostEqual(markers.markers[0].c1.y, 335.557739258, places=4)
self.assertAlmostEqual(markers.markers[0].c2.x, 509.442260742, places=4)
self.assertAlmostEqual(markers.markers[0].c2.y, 335.557739258, places=4)
self.assertAlmostEqual(markers.markers[0].c3.x, 509.442260742, places=4)
self.assertAlmostEqual(markers.markers[0].c3.y, 429.442260742, places=4)
self.assertAlmostEqual(markers.markers[0].c4.x, 415.557739258, places=4)
self.assertAlmostEqual(markers.markers[0].c4.y, 429.442260742, places=4)
def test_markers(node):
markers = rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=5)
assert len(markers.markers) == 4
assert markers.header.frame_id == 'main_camera_optical'
self.assertEqual(markers.markers[3].id, 3)
self.assertAlmostEqual(markers.markers[3].length, 0.1, places=4)
self.assertAlmostEqual(markers.markers[3].pose.position.x, -0.1805169666, places=4)
self.assertAlmostEqual(markers.markers[3].pose.position.y, -0.200697302327, places=4)
self.assertAlmostEqual(markers.markers[3].pose.position.z, 0.585767514823, places=4)
self.assertAlmostEqual(markers.markers[3].pose.orientation.x, -0.961738074009, places=4)
self.assertAlmostEqual(markers.markers[3].pose.orientation.y, -0.0375180244707, places=4)
self.assertAlmostEqual(markers.markers[3].pose.orientation.z, -0.0115387773672, places=4)
self.assertAlmostEqual(markers.markers[3].pose.orientation.w, 0.271144115664, places=4)
self.assertAlmostEqual(markers.markers[3].c1.x, 129.557723999, places=4)
self.assertAlmostEqual(markers.markers[3].c1.y, 49.557723999, places=4)
self.assertAlmostEqual(markers.markers[3].c2.x, 223.442276001, places=4)
self.assertAlmostEqual(markers.markers[3].c2.y, 49.557723999, places=4)
self.assertAlmostEqual(markers.markers[3].c3.x, 223.442276001, places=4)
self.assertAlmostEqual(markers.markers[3].c3.y, 143.442276001, places=4)
self.assertAlmostEqual(markers.markers[3].c4.x, 129.557723999, places=4)
self.assertAlmostEqual(markers.markers[3].c4.y, 143.442276001, places=4)
assert markers.markers[0].id == 2
assert markers.markers[0].length == approx(0.33)
assert markers.markers[0].pose.position.x == approx(0.36706567854)
assert markers.markers[0].pose.position.y == approx(0.290484516644)
assert markers.markers[0].pose.position.z == approx(2.18787602301)
assert markers.markers[0].pose.orientation.x == approx(0.993997406299)
assert markers.markers[0].pose.orientation.y == approx(-0.00532003481626)
assert markers.markers[0].pose.orientation.z == approx(-0.107390951553)
assert markers.markers[0].pose.orientation.w == approx(0.0201999263402)
assert markers.markers[0].c1.x == approx(415.557739258)
assert markers.markers[0].c1.y == approx(335.557739258)
assert markers.markers[0].c2.x == approx(509.442260742)
assert markers.markers[0].c2.y == approx(335.557739258)
assert markers.markers[0].c3.x == approx(509.442260742)
assert markers.markers[0].c3.y == approx(429.442260742)
assert markers.markers[0].c4.x == approx(415.557739258)
assert markers.markers[0].c4.y == approx(429.442260742)
self.assertEqual(markers.markers[1].id, 1)
self.assertAlmostEqual(markers.markers[1].length, 0.33, places=4)
self.assertEqual(markers.markers[2].id, 4)
self.assertAlmostEqual(markers.markers[2].length, 0.33, places=4)
assert markers.markers[3].id == 3
assert markers.markers[3].length == approx(0.1)
assert markers.markers[3].pose.position.x == approx(-0.1805169666)
assert markers.markers[3].pose.position.y == approx(-0.200697302327)
assert markers.markers[3].pose.position.z == approx(0.585767514823)
assert markers.markers[3].pose.orientation.x == approx(-0.961738074009)
assert markers.markers[3].pose.orientation.y == approx(-0.0375180244707)
assert markers.markers[3].pose.orientation.z == approx(-0.0115387773672)
assert markers.markers[3].pose.orientation.w == approx(0.271144115664)
assert markers.markers[3].c1.x == approx(129.557723999)
assert markers.markers[3].c1.y == approx(49.557723999)
assert markers.markers[3].c2.x == approx(223.442276001)
assert markers.markers[3].c2.y == approx(49.557723999)
assert markers.markers[3].c3.x == approx(223.442276001)
assert markers.markers[3].c3.y == approx(143.442276001)
assert markers.markers[3].c4.x == approx(129.557723999)
assert markers.markers[3].c4.y == approx(143.442276001)
def test_visualization(self):
vis = rospy.wait_for_message('aruco_detect/visualization', VisMarkerArray, timeout=5)
self.assertEqual(len(vis.markers), 9)
assert markers.markers[1].id == 1
assert markers.markers[1].length == approx(0.33)
assert markers.markers[2].id == 4
assert markers.markers[2].length == approx(0.33)
def test_debug(self):
img = rospy.wait_for_message('aruco_detect/debug', Image, timeout=5)
self.assertEqual(img.width, 640)
self.assertEqual(img.height, 480)
self.assertEqual(img.header.frame_id, 'main_camera_optical')
def test_visualization(node):
vis = rospy.wait_for_message('aruco_detect/visualization', VisMarkerArray, timeout=5)
assert len(vis.markers) == 9
def test_map(self):
pose = rospy.wait_for_message('aruco_map/pose', PoseWithCovarianceStamped, timeout=5)
self.assertEqual(pose.header.frame_id, 'main_camera_optical')
self.assertAlmostEqual(pose.pose.pose.position.x, -0.629167753342, places=4)
self.assertAlmostEqual(pose.pose.pose.position.y, 0.293822650809, places=4)
self.assertAlmostEqual(pose.pose.pose.position.z, 2.12641343155, places=4)
self.assertAlmostEqual(pose.pose.pose.orientation.x, -0.998383794799, places=4)
self.assertAlmostEqual(pose.pose.pose.orientation.y, -5.20919098575e-06, places=4)
self.assertAlmostEqual(pose.pose.pose.orientation.z, -0.0300861070302, places=4)
self.assertAlmostEqual(pose.pose.pose.orientation.w, 0.0482143590507, places=4)
def test_debug(node):
img = rospy.wait_for_message('aruco_detect/debug', Image, timeout=5)
assert img.width == 640
assert img.height == 480
assert img.header.frame_id == 'main_camera_optical'
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.assertEqual(img.encoding, 'mono8')
def test_map(node):
pose = rospy.wait_for_message('aruco_map/pose', PoseWithCovarianceStamped, timeout=5)
assert pose.header.frame_id == 'main_camera_optical'
assert pose.pose.pose.position.x == approx(-0.629167753342)
assert pose.pose.pose.position.y == approx(0.293822650809)
assert pose.pose.pose.position.z == approx(2.12641343155)
assert pose.pose.pose.orientation.x == approx(-0.998383794799)
assert pose.pose.pose.orientation.y == approx(-5.20919098575e-06)
assert pose.pose.pose.orientation.z == approx(-0.0300861070302)
assert pose.pose.pose.orientation.w == approx(0.0482143590507)
def test_map_visualization(self):
vis = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
def test_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 == 'mono8'
def test_map_debug(self):
img = rospy.wait_for_message('aruco_map/debug', Image, timeout=5)
def test_map_visualization(node):
vis = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
# def test_transforms(self):
# pass
rostest.rosrun('aruco_pose', 'test_aruco_detect', TestArucoPose, sys.argv)
def test_map_debug(node):
img = rospy.wait_for_message('aruco_map/debug', Image, timeout=5)

3
aruco_pose/test/basic.test
View File

@@ -23,5 +23,6 @@
<param name="map" value="$(find aruco_pose)/test/basic.txt"/>
</node>
<test test-name="test_aruco_pose" pkg="aruco_pose" type="basic.py"/>
<param name="test_module" value="$(find aruco_pose)/test/basic.py"/>
<test test-name="aruco_pose_test" pkg="ros_pytest" type="ros_pytest_runner"/>
</launch>

28
aruco_pose/test/test_node_failure.py
View File

@@ -1,27 +1,13 @@
#!/usr/bin/env python
import sys
import unittest
import json
import rospy
import rostest
import pytest
from geometry_msgs.msg import PoseWithCovarianceStamped
from sensor_msgs.msg import Image
from aruco_pose.msg import MarkerArray
from visualization_msgs.msg import MarkerArray as VisMarkerArray
class TestArucoMapPass(unittest.TestCase):
def setUp(self):
rospy.init_node('test_parser_fail', anonymous=True)
@pytest.fixture
def node():
return rospy.init_node('aruco_pose_test', anonymous=True)
def test_node_failure(self):
try:
markers = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
did_post_message = True
except rospy.exceptions.ROSException:
did_post_message = False
self.assertFalse(did_post_message)
rostest.rosrun('aruco_pose', 'test_aruco_map', TestArucoMapPass, sys.argv)
def test_node_failure(node):
with pytest.raises(rospy.exceptions.ROSException):
rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)

3
aruco_pose/test/test_node_failure.test
View File

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

25
aruco_pose/test/test_parser_empty_map.py
View File

@@ -1,24 +1,13 @@
#!/usr/bin/env python
import sys
import unittest
import json
import rospy
import rostest
import pytest
from geometry_msgs.msg import PoseWithCovarianceStamped
from sensor_msgs.msg import Image
from aruco_pose.msg import MarkerArray
from visualization_msgs.msg import MarkerArray as VisMarkerArray
class TestArucoMapPass(unittest.TestCase):
def setUp(self):
rospy.init_node('test_parser_fail', anonymous=True)
@pytest.fixture
def node():
return rospy.init_node('aruco_pose_test_empty_map', anonymous=True)
def test_node_failure(self):
markers = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
self.assertEquals(len(markers.markers), 0)
rostest.rosrun('aruco_pose', 'test_aruco_map', TestArucoMapPass, sys.argv)
def test_empty_map(node):
markers = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
assert len(markers.markers) == 0

3
aruco_pose/test/test_parser_empty_map.test
View File

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

108
aruco_pose/test/test_parser_pass.py
View File

@@ -1,75 +1,61 @@
#!/usr/bin/env python
import sys
import unittest
import json
import rospy
import rostest
import pytest
from geometry_msgs.msg import PoseWithCovarianceStamped
from sensor_msgs.msg import Image
from aruco_pose.msg import MarkerArray
from visualization_msgs.msg import MarkerArray as VisMarkerArray
class TestArucoMapPass(unittest.TestCase):
def setUp(self):
rospy.init_node('test_parser_pass', anonymous=True)
@pytest.fixture
def node():
return rospy.init_node('aruco_pose_test', anonymous=True)
def test_markers(self):
markers = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
self.assertEqual(len(markers.markers), 6)
# FIXME: visual marker id is not ArUco marker id
# self.assertEqual(markers.markers[0].id, 1)
# self.assertEqual(markers.markers[1].id, 2)
# self.assertEqual(markers.markers[2].id, 3)
# self.assertEqual(markers.markers[3].id, 4)
def approx(expected):
return pytest.approx(expected, abs=1e-4) # compare floats more roughly
self.assertAlmostEqual(markers.markers[0].pose.position.x, 0, places=7)
self.assertAlmostEqual(markers.markers[0].pose.position.y, 0, places=7)
self.assertAlmostEqual(markers.markers[0].pose.position.z, 0, places=7)
self.assertAlmostEqual(markers.markers[1].pose.position.x, 1, places=7)
self.assertAlmostEqual(markers.markers[1].pose.position.y, 1, places=7)
self.assertAlmostEqual(markers.markers[1].pose.position.z, 1, places=7)
self.assertAlmostEqual(markers.markers[2].pose.position.x, 1, places=7)
self.assertAlmostEqual(markers.markers[2].pose.position.y, 0, places=7)
self.assertAlmostEqual(markers.markers[2].pose.position.z, 0.5, places=7)
self.assertAlmostEqual(markers.markers[3].pose.position.x, 0, places=7)
self.assertAlmostEqual(markers.markers[3].pose.position.y, 1, places=7)
self.assertAlmostEqual(markers.markers[3].pose.position.z, 0, places=7)
self.assertAlmostEqual(markers.markers[4].pose.position.x, 1, places=7)
self.assertAlmostEqual(markers.markers[4].pose.position.y, 0.5, places=7)
self.assertAlmostEqual(markers.markers[4].pose.position.z, 0, places=7)
self.assertAlmostEqual(markers.markers[5].pose.position.x, 2.2, places=7)
self.assertAlmostEqual(markers.markers[5].pose.position.y, 0.2, places=7)
self.assertAlmostEqual(markers.markers[5].pose.position.z, 0, places=7)
def test_markers(node):
markers = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
assert len(markers.markers) == 6
self.assertAlmostEqual(markers.markers[0].scale.x, 0.33, places=7)
self.assertAlmostEqual(markers.markers[0].scale.y, 0.33, places=7)
self.assertAlmostEqual(markers.markers[1].scale.x, 0.225, places=7)
self.assertAlmostEqual(markers.markers[1].scale.y, 0.225, places=7)
self.assertAlmostEqual(markers.markers[2].scale.x, 0.45, places=7)
self.assertAlmostEqual(markers.markers[2].scale.y, 0.45, places=7)
self.assertAlmostEqual(markers.markers[3].scale.x, 0.15, places=7)
self.assertAlmostEqual(markers.markers[3].scale.y, 0.15, places=7)
self.assertAlmostEqual(markers.markers[4].scale.x, 0.25, places=7)
self.assertAlmostEqual(markers.markers[4].scale.y, 0.25, places=7)
self.assertAlmostEqual(markers.markers[5].scale.x, 0.35, places=7)
self.assertAlmostEqual(markers.markers[5].scale.y, 0.35, places=7)
assert markers.markers[0].pose.position.x == approx(0)
assert markers.markers[0].pose.position.y == approx(0)
assert markers.markers[0].pose.position.z == approx(0)
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.assertEqual(img.encoding, 'mono8')
assert markers.markers[1].pose.position.x == approx(1)
assert markers.markers[1].pose.position.y == approx(1)
assert markers.markers[1].pose.position.z == approx(1)
# def test_transforms(self):
# pass
assert markers.markers[2].pose.position.x == approx(1)
assert markers.markers[2].pose.position.y == approx(0)
assert markers.markers[2].pose.position.z == approx(0.5)
assert markers.markers[3].pose.position.x == approx(0)
assert markers.markers[3].pose.position.y == approx(1)
assert markers.markers[3].pose.position.z == approx(0)
rostest.rosrun('aruco_pose', 'test_aruco_map', TestArucoMapPass, sys.argv)
assert markers.markers[4].pose.position.x == approx(1)
assert markers.markers[4].pose.position.y == approx(0.5)
assert markers.markers[4].pose.position.z == approx(0)
assert markers.markers[5].pose.position.x == approx(2.2)
assert markers.markers[5].pose.position.y == approx(0.2)
assert markers.markers[5].pose.position.z == approx(0)
assert markers.markers[0].scale.x == approx(0.33)
assert markers.markers[0].scale.y == approx(0.33)
assert markers.markers[1].scale.x == approx(0.225)
assert markers.markers[1].scale.y == approx(0.225)
assert markers.markers[2].scale.x == approx(0.45)
assert markers.markers[2].scale.y == approx(0.45)
assert markers.markers[3].scale.x == approx(0.15)
assert markers.markers[3].scale.y == approx(0.15)
assert markers.markers[4].scale.x == approx(0.25)
assert markers.markers[4].scale.y == approx(0.25)
assert markers.markers[5].scale.x == approx(0.35)
assert markers.markers[5].scale.y == approx(0.35)
def test_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 == 'mono8'

3
aruco_pose/test/test_parser_pass.test
View File

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

3
builder/assets/kinetic-rosdep-clever.yaml
View File

@@ -550,3 +550,6 @@ ddynamic_reconfigure:
realsense2_camera:
debian:
stretch: [ros-kinetic-realsense2-camera]
ros_pytest:
debian:
stretch: [ros-kinetic-ros-pytest]