From e5df1cd1a0b136f8fe9fec06f8abaff44b58e93a Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Tue, 2 Jul 2019 00:39:47 +0300
Subject: [PATCH] aruco_pose: require all the nodelets not to crash in tests

---
 aruco_pose/test/basic.test            | 6 +++---
 aruco_pose/test/largemap.test         | 4 ++--
 aruco_pose/test/test_parser_pass.test | 4 ++--
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/aruco_pose/test/basic.test b/aruco_pose/test/basic.test
index 46950d85..80722a2e 100644
--- a/aruco_pose/test/basic.test
+++ b/aruco_pose/test/basic.test
@@ -5,9 +5,9 @@
         <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"/>
+    <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">
+    <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"/>
@@ -15,7 +15,7 @@
         <param name="estimate_poses" value="true"/>
     </node>
 
-    <node name="aruco_map" pkg="nodelet" type="nodelet" args="load aruco_pose/aruco_map nodelet_manager" clear_params="true">
+    <node name="aruco_map" pkg="nodelet" type="nodelet" args="load aruco_pose/aruco_map nodelet_manager" clear_params="true" required="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="markers" to="aruco_detect/markers"/>
diff --git a/aruco_pose/test/largemap.test b/aruco_pose/test/largemap.test
index 4025af62..799e1839 100644
--- a/aruco_pose/test/largemap.test
+++ b/aruco_pose/test/largemap.test
@@ -1,7 +1,7 @@
 <launch>
-    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" required="true"/>
 
-    <node name="aruco_map" pkg="nodelet" type="nodelet" args="load aruco_pose/aruco_map nodelet_manager" clear_params="true">
+    <node name="aruco_map" pkg="nodelet" type="nodelet" args="load aruco_pose/aruco_map nodelet_manager" clear_params="true" required="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="markers" to="aruco_detect/markers"/>
diff --git a/aruco_pose/test/test_parser_pass.test b/aruco_pose/test/test_parser_pass.test
index 8d54d326..1ba8096f 100644
--- a/aruco_pose/test/test_parser_pass.test
+++ b/aruco_pose/test/test_parser_pass.test
@@ -1,7 +1,7 @@
 <launch>
-    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" required="true"/>
 
-    <node name="aruco_map" pkg="nodelet" type="nodelet" args="load aruco_pose/aruco_map nodelet_manager" clear_params="true">
+    <node name="aruco_map" pkg="nodelet" type="nodelet" args="load aruco_pose/aruco_map nodelet_manager" clear_params="true" required="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="markers" to="aruco_detect/markers"/>