Fix QR recognition test

builder/image-validate.sh

@@ -20,13 +20,16 @@ export ROS_DISTRO='noetic'
 export ROS_IP='127.0.0.1'
 source /opt/ros/${ROS_DISTRO}/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash
+systemctl start roscore
 
 cd /home/pi/catkin_ws/src/clover/builder/test/
 ./tests.sh
 ./tests.py
 ./tests_py3.py
-./test_qr.py
+[[ $(./test_qr.py) == "Found QRCODE with data Проверка Unicode with center at x=66.0, y=66.0" ]] 
 [[ $(./tests_clever.py) == "Warning: clever package is renamed to clover" ]]  # test backwards compatibility
 
+systemctl stop roscore
+
 echo "Move /etc/ld.so.preload back to its original position"
 mv /etc/ld.so.preload.disabled-for-build /etc/ld.so.preload

builder/test/test_qr.py

@@ -23,17 +23,17 @@ def image_callback(data):
         xc = x + w/2
         yc = y + h/2
         print("Found {} with data {} with center at x={}, y={}".format(b_type, b_data, xc, yc))
-    rospy.signal_shutdown()
+    rospy.signal_shutdown('done')
 
 image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
 
 # ==============================================================================
 # Publish test image
 
-print('Testing QR code recognition')
+rospy.sleep(2)
 import cv2
-img = cv2.imread('qr.gif')
-image_pub = rospy.Publisher('main_camera/image_raw', Image)
-image_pub.publish(bridge.cv2_to_imgmsg(img))
+img = cv2.imread('qr.png')
+image_pub = rospy.Publisher('/main_camera/image_raw', Image, queue_size=1, latch=True)
+image_pub.publish(bridge.cv2_to_imgmsg(img, 'bgr8'))
 
 rospy.spin()