Test raw build for Noetic

.github/workflows/build.yml

@@ -15,6 +15,14 @@ jobs:
   #       run: |
   #         docker run --rm -v $(pwd):/root/catkin_ws/src/clover ros:melodic-ros-base /root/catkin_ws/src/clover/builder/standalone-install.sh
   noetic:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: Native Noetic build
+        run: |
+          docker run --rm -v $(pwd):/root/catkin_ws/src/clover ros:noetic-ros-base /root/catkin_ws/src/clover/builder/standalone-install.sh
+
+  noetic-raw:
     runs-on: ubuntu-latest
     container: ros:noetic-ros-base
     defaults:

aruco_pose/CMakeLists.txt

@@ -251,5 +251,4 @@ if (CATKIN_ENABLE_TESTING)
   add_rostest(test/test_node_failure.test)
   add_rostest(test/largemap.test)
   add_rostest(test/crash_opencv.test)
-  add_rostest(test/duplicate.test)
 endif()

aruco_pose/src/aruco_detect.cpp

@@ -187,8 +187,6 @@ private:
 
 			array_.markers.reserve(ids.size());
 			aruco_pose::Marker marker;
-			vector<geometry_msgs::TransformStamped> transforms;
-			transforms.reserve(ids.size());
 			geometry_msgs::TransformStamped transform;
 			transform.header.stamp = msg->header.stamp;
 			transform.header.frame_id = msg->header.frame_id;
@@ -206,33 +204,20 @@ private:
 						snapOrientation(marker.pose.orientation, snap_to.transform.rotation, auto_flip_);
 					}
 
+					// TODO: check IDs are unique
 					if (send_tf_) {
 						transform.child_frame_id = getChildFrameId(ids[i]);
 
 						// check if such static transform is in the map
 						if (map_markers_ids_.find(ids[i]) == map_markers_ids_.end()) {
-							// check if a markers with that id is already added
+							transform.transform.rotation = marker.pose.orientation;
-							bool send = true;
+							fillTranslation(transform.transform.translation, tvecs[i]);
-							for (auto &t : transforms) {
+							br_->sendTransform(transform);
-								if (t.child_frame_id == transform.child_frame_id) {
-									send = false;
-									break;
-								}
-							}
-							if (send) {
-								transform.transform.rotation = marker.pose.orientation;
-								fillTranslation(transform.transform.translation, tvecs[i]);
-								transforms.push_back(transform);
-							}
 						}
 					}
 				}
 				array_.markers.push_back(marker);
 			}
-
-			if (send_tf_) {
-				br_->sendTransform(transforms);
-			}
 		}
 
 		markers_pub_.publish(array_);

aruco_pose/test/duplicate.py

@@ -1,8 +0,0 @@
-import pytest
-import subprocess
-
-def test_no_tf_repeated_data():
-    # `/rosout` acts weirdly inside rostest, so using a subprocess
-    cmd = """python -c 'import rospy, tf; rospy.init_node("foo"); listener = tf.TransformListener(); rospy.sleep(2)'"""
-    output = str(subprocess.check_output(cmd, shell=True, stderr=subprocess.STDOUT))
-    assert 'TF_REPEATED_DATA' not in output, 'TF_REPEATED_DATA was logged on duplicate markers'

aruco_pose/test/duplicate.test

@@ -1,21 +0,0 @@
-<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>

clover/CMakeLists.txt

@@ -46,14 +46,6 @@ find_package(OpenCV ${_opencv_version} REQUIRED
     imgproc
 )
 
-# Download GeographicLib datasets
-message(STATUS "Downloading GeographicLib datasets to ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_SHARE_DESTINATION}")
-add_custom_target(download_geographiclib_datasets ALL
-  COMMAND geographiclib-get-geoids -p ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_SHARE_DESTINATION}/GeographicLib egm96-5
-  COMMAND geographiclib-get-gravity -p ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_SHARE_DESTINATION}/GeographicLib egm96
-  COMMAND geographiclib-get-magnetic -p ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_SHARE_DESTINATION}/GeographicLib emm2015
-)
-
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 

clover/launch/mavros.launch

@@ -44,9 +44,6 @@
         <!-- remap rangefinder -->
         <remap from="mavros/distance_sensor/rangefinder_sub" to="$(arg distance_sensor_remap)" if="$(eval bool(distance_sensor_remap))"/>
 
-        <!-- path to find GoegraphicLib datasets -->
-        <env name="GEOGRAPHICLIB_DATA" value="$(eval env('CMAKE_PREFIX_PATH').split(':')[0] + '/share/GeographicLib')"/>
-
         <rosparam param="plugin_whitelist">
             - altitude
             - command

clover/test/basic.test

@@ -4,7 +4,6 @@
     <node pkg="mavros" type="mavros_node" name="mavros" required="true" output="screen">
         <param name="fcu_url" value="udp://@127.0.1:14557"/>
         <rosparam command="load" file="$(find clover)/launch/mavros_config.yaml"/>
-        <env name="GEOGRAPHICLIB_DATA" value="$(eval env('CMAKE_PREFIX_PATH').split(':')[0] + '/share/GeographicLib')"/>
     </node>
 
     <node name="visualization" pkg="mavros_extras" type="visualization" required="true">