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aruco_pose: implement test for TF_REPEATED_DATA when multiple markers with the same ID

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Oleg Kalachev
2022-09-14 12:35:16 +03:00
parent 1efe10c9dd
commit d06b0a0cd2
3 changed files with 29 additions and 0 deletions
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aruco_pose/test/duplicate.test Normal file
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<launch>
<node pkg="image_publisher" type="image_publisher" name="main_camera" args="$(find aruco_pose)/test/duplicate.png">
<param name="frame_id" value="main_camera_optical"/>
<param name="publish_rate" value="10"/>
<param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
</node>
<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" required="true"/>
<node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect" args="load aruco_pose/aruco_detect nodelet_manager" required="true">
<remap from="image_raw" to="main_camera/image_raw"/>
<remap from="camera_info" to="main_camera/camera_info"/>
<param name="length" value="0.33"/>
<param name="estimate_poses" value="true"/>
<param name="send_tf" value="true"/>
<param name="cornerRefinementMethod" value="1"/>
</node>
<param name="test_module" value="$(find aruco_pose)/test/duplicate.py"/>
<test test-name="aruco_pose_test" pkg="ros_pytest" type="ros_pytest_runner"/>
</launch>