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9c9ac3150d
* aruco_pose: use pytest * Use ros_pytest * Add ros_pytest to rosdep * aruco_pose: compare floats more roughly in pytest * aruco_pose: rewrite all the rest tests in pytest
29 lines
1.4 KiB
Plaintext
29 lines
1.4 KiB
Plaintext
<launch>
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<node pkg="image_publisher" type="image_publisher" name="main_camera" args="$(find aruco_pose)/test/map.png">
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<param name="frame_id" value="main_camera_optical"/>
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<param name="publish_rate" value="10"/>
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<param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
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</node>
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<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
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<node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect" args="load aruco_pose/aruco_detect nodelet_manager">
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<remap from="image_raw" to="main_camera/image_raw"/>
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<remap from="camera_info" to="main_camera/camera_info"/>
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<param name="length" value="0.33"/>
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<param name="length_override/3" value="0.1"/>
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<param name="estimate_poses" value="true"/>
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</node>
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<node name="aruco_map" pkg="nodelet" type="nodelet" args="load aruco_pose/aruco_map nodelet_manager" clear_params="true">
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<remap from="image_raw" to="main_camera/image_raw"/>
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<remap from="camera_info" to="main_camera/camera_info"/>
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<remap from="markers" to="aruco_detect/markers"/>
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<param name="type" value="map"/>
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<param name="map" value="$(find aruco_pose)/test/basic.txt"/>
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</node>
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<param name="test_module" value="$(find aruco_pose)/test/basic.py"/>
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<test test-name="aruco_pose_test" pkg="ros_pytest" type="ros_pytest_runner"/>
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</launch>
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