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add test for zdepth package #425

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add test for zdepth package #425

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f8ad46e
add zdepth test
knorth55 Jan 26, 2023
1c57ff5
fix duplicated build depend
knorth55 May 15, 2025
3572654
test zdepth in noetic
knorth55 May 15, 2025
25fcbaa
add jsk_recognition in .travis.rosinstall.noetic
knorth55 May 15, 2025
e59d232
test only in noetic
knorth55 May 15, 2025
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4 changes: 4 additions & 0 deletions .travis.rosinstall.noetic
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Original file line number Diff line number Diff line change
Expand Up @@ -2,3 +2,7 @@
- git:
local-name: catkin_virtualenv
uri: https://github.com/locusrobotics/catkin_virtualenv
# waiting for depth_image_publisher to be released in apt server
- git:
local-name: jsk_recognition
uri: https://github.com/jsk-ros-pkg/jsk_recognition
12 changes: 12 additions & 0 deletions zdepth_image_transport/CMakeLists.txt
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Expand Up @@ -73,3 +73,15 @@ install(DIRECTORY include/${PROJECT_NAME}/
install(FILES zdepth_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

if(CATKIN_ENABLE_TESTING)
if("$ENV{ROS_DISTRO}" STRGREATER "melodic")
find_package(roslaunch REQUIRED)
find_package(roslint REQUIRED)
find_package(rostest REQUIRED)
add_rostest(test/zdepth_image_transport_16uc1.test)
add_rostest(test/zdepth_image_transport_32fc1.test)
roslaunch_add_file_check(test/zdepth_image_transport_16uc1.test)
roslaunch_add_file_check(test/zdepth_image_transport_32fc1.test)
endif()
endif()
11 changes: 5 additions & 6 deletions zdepth_image_transport/package.xml
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Expand Up @@ -26,18 +26,17 @@
<exec_depend>std_msgs</exec_depend>
<exec_depend>zdepth</exec_depend>

<build_depend>pluginlib</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>zdepth</build_depend>

<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>sensor_msgs</build_export_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>pluginlib</build_export_depend>
<build_export_depend>image_transport</build_export_depend>

<test_depend>depth_image_publisher</test_depend>
<test_depend>roslaunch</test_depend>
<test_depend>roslint</test_depend>
<test_depend>rostest</test_depend>

<export>
<image_transport plugin="${prefix}/zdepth_plugins.xml"/>
</export>
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15 changes: 15 additions & 0 deletions zdepth_image_transport/test/zdepth_image_transport_16uc1.test
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@@ -0,0 +1,15 @@
<launch>
<node name="depth_image_publisher" pkg="depth_image_publisher" type="depth_image_publisher"
args="$(find depth_image_publisher)/sample/sample_16uc1.png">
<param name="encoding" value="16UC1" />
</node>

<test name="zdepth_hztest_16uc1" test-name="zdepth_hztest_test_16uc1"
pkg="rostest" type="hztest">
<param name="topic" value="depth_image_publisher/image_raw/zdepth" />
<param name="hz" value="10.0" />
<param name="hzerror" value="1.0" />
<param name="test_duration" value="1.0" />
</test>

</launch>
15 changes: 15 additions & 0 deletions zdepth_image_transport/test/zdepth_image_transport_32fc1.test
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@@ -0,0 +1,15 @@
<launch>
<node name="depth_image_publisher" pkg="depth_image_publisher" type="depth_image_publisher"
args="$(find depth_image_publisher)/sample/sample_16uc1.png">
<param name="encoding" value="32FC1" />
</node>

<test name="zdepth_hztest_32fc1" test-name="zdepth_hztest_test_32fc1"
pkg="rostest" type="hztest">
<param name="topic" value="depth_image_publisher/image_raw/zdepth" />
<param name="hz" value="10.0" />
<param name="hzerror" value="1.0" />
<param name="test_duration" value="1.0" />
</test>

</launch>
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