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98d5d50607
* aruco_pose: Add tests that crash OpenCV * aruco_pose: Don't try to interpolate single points
52 lines
2.6 KiB
Plaintext
52 lines
2.6 KiB
Plaintext
<launch>
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<arg name="corner_method" default="2"/>
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<node pkg="image_publisher" type="image_publisher" name="imgpub_01" args="$(find aruco_pose)/test/crash_image_01.png">
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<param name="frame_id" value="main_camera_optical"/>
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<param name="publish_rate" value="10"/>
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<param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
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</node>
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<node pkg="image_publisher" type="image_publisher" name="imgpub_02" args="$(find aruco_pose)/test/crash_image_02.png">
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<param name="frame_id" value="main_camera_optical"/>
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<param name="publish_rate" value="10"/>
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<param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
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</node>
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<node pkg="image_publisher" type="image_publisher" name="imgpub_03" args="$(find aruco_pose)/test/crash_image_03.png">
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<param name="frame_id" value="main_camera_optical"/>
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<param name="publish_rate" value="10"/>
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<param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
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</node>
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<node pkg="nodelet" type="nodelet" name="nodelet_manager_01" args="manager"/>
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<node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect_01" args="load aruco_pose/aruco_detect nodelet_manager_01">
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<remap from="image_raw" to="imgpub_01/image_raw"/>
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<remap from="camera_info" to="imgpub_01/camera_info"/>
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<param name="length" value="0.33"/>
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<param name="cornerRefinementMethod" value="$(arg corner_method)"/>
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</node>
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<node pkg="nodelet" type="nodelet" name="nodelet_manager_02" args="manager"/>
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<node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect_02" args="load aruco_pose/aruco_detect nodelet_manager_02">
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<remap from="image_raw" to="imgpub_02/image_raw"/>
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<remap from="camera_info" to="imgpub_02/camera_info"/>
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<param name="length" value="0.33"/>
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<param name="cornerRefinementMethod" value="$(arg corner_method)"/>
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</node>
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<node pkg="nodelet" type="nodelet" name="nodelet_manager_03" args="manager"/>
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<node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect_03" args="load aruco_pose/aruco_detect nodelet_manager_03">
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<remap from="image_raw" to="imgpub_03/image_raw"/>
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<remap from="camera_info" to="imgpub_03/camera_info"/>
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<param name="length" value="0.33"/>
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<param name="cornerRefinementMethod" value="$(arg corner_method)"/>
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</node>
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<param name="test_module" value="$(find aruco_pose)/test/crash_opencv.py"/>
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<test test-name="crash_opencv" pkg="ros_pytest" type="ros_pytest_runner"/>
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</launch>
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