Use pytest for tests (#133)

* 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

aruco_pose/test/test_parser_empty_map.py

@@ -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