feat(camera): add external camera streaming with tests and ci-cd

.github/workflows/ci.yml

@@ -0,0 +1,155 @@
+name: CI
+
+on:
+  push:
+    branches: [ main, dev ]
+  pull_request:
+    branches: [ main, dev ]
+
+jobs:
+  lint:
+    name: Lint
+    runs-on: ubuntu-latest
+    container:
+      image: osrf/ros:humble-desktop
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install dependencies
+        run: |
+          apt-get update && apt-get install -y \
+            python3-pip \
+            python3-pytest \
+            python3-pytest-mock \
+            python3-opencv \
+            gstreamer1.0-tools \
+            gstreamer1.0-plugins-base \
+            gstreamer1.0-plugins-good \
+            gstreamer1.0-plugins-bad \
+            gstreamer1.0-plugins-ugly \
+            v4l-utils \
+            build-essential \
+            cmake \
+            git \
+            && rm -rf /var/lib/apt/lists/*
+
+      - name: Setup workspace structure
+        run: |
+          mkdir -p ws/src
+          cp -r camera_ros lucy_bringup ws/src/
+
+      - name: Build workspace
+        working-directory: /__w/lucy_ros_packages/lucy_ros_packages/ws
+        shell: bash
+        run: |
+          source /opt/ros/humble/setup.bash
+          colcon build --packages-select camera_ros lucy_bringup --cmake-args -DBUILD_TESTING=ON
+
+      - name: Run linters
+        working-directory: /__w/lucy_ros_packages/lucy_ros_packages/ws
+        shell: bash
+        run: |
+          source /opt/ros/humble/setup.bash
+          source install/setup.bash
+          colcon test --packages-select camera_ros lucy_bringup --event-handlers console_direct+ || true
+
+      - name: Check lint results
+        working-directory: /__w/lucy_ros_packages/lucy_ros_packages/ws
+        shell: bash
+        run: |
+          source /opt/ros/humble/setup.bash
+          source install/setup.bash
+          colcon test-result --verbose || true
+
+  test:
+    name: Unit Tests
+    runs-on: ubuntu-latest
+    container:
+      image: osrf/ros:humble-desktop
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install dependencies
+        run: |
+          apt-get update && apt-get install -y \
+            python3-pip \
+            python3-pytest \
+            python3-pytest-mock \
+            python3-opencv \
+            gstreamer1.0-tools \
+            gstreamer1.0-plugins-base \
+            gstreamer1.0-plugins-good \
+            gstreamer1.0-plugins-bad \
+            gstreamer1.0-plugins-ugly \
+            v4l-utils \
+            build-essential \
+            cmake \
+            git \
+            && rm -rf /var/lib/apt/lists/*
+
+      - name: Install Python test dependencies
+        run: |
+          pip3 install --no-cache-dir pytest pytest-mock pytest-cov
+
+      - name: Setup workspace structure
+        run: |
+          mkdir -p ws/src
+          cp -r camera_ros lucy_bringup ws/src/
+
+      - name: Build workspace with tests
+        working-directory: /__w/lucy_ros_packages/lucy_ros_packages/ws
+        shell: bash
+        run: |
+          source /opt/ros/humble/setup.bash
+          colcon build --packages-select camera_ros lucy_bringup --cmake-args -DBUILD_TESTING=ON
+
+      - name: Run unit tests
+        working-directory: /__w/lucy_ros_packages/lucy_ros_packages/ws
+        shell: bash
+        run: |
+          source /opt/ros/humble/setup.bash
+          source install/setup.bash
+          colcon test --packages-select camera_ros lucy_bringup --event-handlers console_direct+
+
+      - name: Check test results
+        working-directory: /__w/lucy_ros_packages/lucy_ros_packages/ws
+        shell: bash
+        run: |
+          source /opt/ros/humble/setup.bash
+          source install/setup.bash
+          colcon test-result --verbose
+          # Fail if any tests failed
+          if colcon test-result --verbose | grep -q "failed"; then
+            echo "Some tests failed!"
+            exit 1
+          fi
+
+      - name: Generate coverage report
+        working-directory: /__w/lucy_ros_packages/lucy_ros_packages/ws
+        shell: bash
+        run: |
+          source /opt/ros/humble/setup.bash
+          source install/setup.bash
+          cd build/camera_ros
+          python3 -m pytest ../../src/camera_ros/test/ \
+            --cov=../../src/camera_ros/scripts \
+            --cov-report=xml:coverage.xml \
+            --cov-report=html:htmlcov \
+            --cov-report=term-missing \
+            --cov-branch || true
+
+      - name: Upload coverage to Codecov
+        uses: codecov/codecov-action@v3
+        with:
+          file: ${{ github.workspace }}/ws/build/camera_ros/coverage.xml
+          flags: unittests
+          name: codecov-umbrella
+          fail_ci_if_error: false
+
+      - name: Upload coverage HTML report
+        uses: actions/upload-artifact@v4
+        if: always()
+        with:
+          name: coverage-report
+          path: ${{ github.workspace }}/ws/build/camera_ros/htmlcov/
+          retention-days: 30

.gitignore

@@ -1 +1,57 @@
+# Python
+__pycache__/
+*.py[cod]
+*$py.class
+*.so
+.Python
+*.egg-info/
+dist/
+build/
+.eggs/
+
+# Virtual environments
 .venv
+venv/
+ENV/
+env/
+
+# Coverage reports
+htmlcov/
+.coverage
+.coverage.*
+coverage.xml
+*.cover
+.hypothesis/
+
+# Test artifacts
+.pytest_cache/
+test_results/
+*.xunit.xml
+.tox/
+.nox/
+
+# ROS2 build artifacts
+install/
+log/
+build/
+
+# IDE
+.vscode/
+.idea/
+*.swp
+*.swo
+*~
+.DS_Store
+
+# OS
+Thumbs.db
+.DS_Store
+
+# ROS2 specific
+.ros/
+
+# Temporary files
+*.tmp
+*.log
+*.bak
+*.orig

camera_ros/CMakeLists.txt

@@ -25,6 +25,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
 # Install Python scripts
 install(PROGRAMS
   scripts/camera_publisher.py
+  scripts/camera_stream_controller.py
   DESTINATION lib/${PROJECT_NAME}
 )
 
@@ -54,7 +55,32 @@ install(FILES
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
+  find_package(ament_cmake_pytest REQUIRED)
   ament_lint_auto_find_test_dependencies()
+
+  # Install test files
+  install(DIRECTORY test
+    DESTINATION share/${PROJECT_NAME}
+  )
+
+  # Install pytest.ini for coverage configuration
+  install(FILES
+    pytest.ini
+    DESTINATION share/${PROJECT_NAME}
+  )
+
+  # Add pytest tests with coverage
+  ament_add_pytest_test(test_camera_publisher test/test_camera_publisher.py
+    TIMEOUT 60
+    PYTHON_EXECUTABLE "${PYTHON3_EXECUTABLE}"
+    APPEND_ENV PYTHONPATH="${CMAKE_CURRENT_SOURCE_DIR}/scripts:${CMAKE_CURRENT_SOURCE_DIR}"
+  )
+
+  ament_add_pytest_test(test_camera_stream_controller test/test_camera_stream_controller.py
+    TIMEOUT 60
+    PYTHON_EXECUTABLE "${PYTHON3_EXECUTABLE}"
+    APPEND_ENV PYTHONPATH="${CMAKE_CURRENT_SOURCE_DIR}/scripts:${CMAKE_CURRENT_SOURCE_DIR}"
+  )
 endif()
 
 # Export the generated interfaces

camera_ros/camera_ros/__init__.py

@@ -16,6 +16,7 @@
 """
 Camera ROS Package.
 
-Zero-copy MJPEG camera publisher optimized for NVIDIA Jetson AGX Orin."""
+Zero-copy MJPEG camera publisher optimized for NVIDIA Jetson AGX Orin.
+"""
 
 __version__ = "1.0.0"

camera_ros/launch/camera.launch.py

@@ -17,18 +17,21 @@
 """
 Launch file for zero-copy MJPEG camera publisher.
 
-This launch file starts the camera node with optimized settings for NVIDIA Jetson AGX Orin."""
+This launch file starts the camera node with optimized settings for
+NVIDIA Jetson AGX Orin.
+"""
 
 from launch import LaunchDescription
 from launch_ros.actions import Node
 from launch.actions import DeclareLaunchArgument, LogInfo
 from launch.substitutions import LaunchConfiguration
 
+
 def generate_launch_description():
     # Launch arguments
     fps_arg = DeclareLaunchArgument(
         'fps',
-        default_value='15.0',
+        default_value='10.0',
         description='Camera frame rate (1.0-30.0 FPS)'
     )
 
@@ -38,6 +41,24 @@ def generate_launch_description():
         description='Camera device path'
     )
 
+    vendor_id_arg = DeclareLaunchArgument(
+        'vendor_id',
+        default_value='',
+        description='USB vendor ID for camera identification (e.g., 0x046d)'
+    )
+
+    product_id_arg = DeclareLaunchArgument(
+        'product_id',
+        default_value='',
+        description='USB product ID for camera identification'
+    )
+
+    serial_number_arg = DeclareLaunchArgument(
+        'serial_number',
+        default_value='',
+        description='Camera serial number for identification'
+    )
+
     # Camera node
     camera_node = Node(
         package='camera_ros',
@@ -47,12 +68,30 @@ def generate_launch_description():
         parameters=[{
             'fps': LaunchConfiguration('fps'),
             'device': LaunchConfiguration('device'),
+            'vendor_id': LaunchConfiguration('vendor_id'),
+            'product_id': LaunchConfiguration('product_id'),
+            'serial_number': LaunchConfiguration('serial_number'),
         }],
     )
 
+    # Camera stream controller node
+    camera_controller_node = Node(
+        package='camera_ros',
+        executable='camera_stream_controller.py',
+        name='camera_stream_controller',
+        output='screen',
+    )
+
     return LaunchDescription([
         fps_arg,
         device_arg,
-        LogInfo(msg='Starting zero-copy MJPEG camera publisher with automatic client-based activation'),
+        vendor_id_arg,
+        product_id_arg,
+        serial_number_arg,
+        LogInfo(
+            msg='Starting zero-copy MJPEG camera publisher with '
+            'service-based streaming control'
+        ),
         camera_node,
+        camera_controller_node,
     ])

camera_ros/package.xml

@@ -28,6 +28,10 @@
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>python3-pytest</test_depend>
+  <test_depend>python3-pytest-mock</test_depend>
+  <test_depend>python3-pytest-cov</test_depend>
 
   <member_of_group>rosidl_interface_packages</member_of_group>
 

camera_ros/pytest.ini

@@ -0,0 +1,17 @@
+[pytest]
+# Pytest configuration for camera_ros package
+testpaths = test
+python_files = test_*.py
+python_classes = Test*
+python_functions = test_*
+addopts = 
+    -v
+    --strict-markers
+    --tb=short
+    --cov=scripts
+    --cov-report=term-missing
+    --cov-report=html:htmlcov
+    --cov-report=xml:coverage.xml
+    --cov-branch
+    --no-cov-on-fail
+