Add ouster and velodyne tests

Author: rosalievanark

ros2_ws/src/rcdt_sensors/launch/ouster.launch.py

@@ -6,7 +6,7 @@
 from launch import LaunchContext, LaunchDescription
 from launch.actions import OpaqueFunction
 from launch_ros.actions import Node
-from rcdt_utilities.launch_utils import SKIP, LaunchArgument, get_file_path
+from rcdt_utilities.launch_utils import LaunchArgument
 from rcdt_utilities.register import Register
 
 use_sim_arg = LaunchArgument("simulation", True, [True, False])
@@ -15,24 +15,18 @@
 
 
 def launch_setup(context: LaunchContext) -> list:
-    """Setup the launch description for the realsense camera.
+    """Setup the launch description for the Ouster lidar.
 
     Args:
         context (LaunchContext): The launch context.
 
     Returns:
         list: A list of actions to be executed.
     """
-    use_sim = use_sim_arg.bool_value(context)
+    # Simulation-only setup
     namespace = namespace_arg.string_value(context)
     target_frame = target_frame_arg.string_value(context)
 
-    frame_prefix = namespace + "/" if namespace else ""
-
-    ouster_driver_node = None  # Insert Ouster driver node
-
-    ouster_transform_node = None  # Insert Ouster transform pointcloud node
-
     pointcloud_to_laserscan_node = Node(
         package="pointcloud_to_laserscan",
         executable="pointcloud_to_laserscan_node",
@@ -53,8 +47,6 @@ def launch_setup(context: LaunchContext) -> list:
     )
 
     return [
-        # Register.on_start(ouster_driver_node, context) if not use_sim else SKIP,
-        # Register.on_start(ouster_transform_node, context) if not use_sim else SKIP,
         Register.on_start(pointcloud_to_laserscan_node, context),
     ]
 

ros2_ws/src/rcdt_sensors/urdf/rcdt_os1_128.urdf.xacro

@@ -7,8 +7,7 @@ SPDX-License-Identifier: Apache-2.0
 
 <!-- 
 Based on:
-1....
-2....
+1. https://data.ouster.io/downloads/datasheets/datasheet-rev7p1-os1.pdf
 -->
 
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="OS1-128">

ros2_ws/src/rcdt_test/rcdt_test/sensors/integration/test_ouster.py

@@ -0,0 +1,57 @@
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+
+import launch_pytest
+import pytest
+from _pytest.fixtures import SubRequest
+from launch import LaunchDescription
+from rcdt_launch.robot import Lidar
+from rcdt_utilities.launch_utils import assert_for_message, get_file_path
+from rcdt_utilities.register import Register, RegisteredLaunchDescription
+from rcdt_utilities.test_utils import wait_for_register
+from sensor_msgs.msg import PointCloud2
+
+namespace = "ouster"
+
+
+@launch_pytest.fixture(scope="module")
+def launch(request: SubRequest) -> LaunchDescription:
+    """Fixture to create launch file for the ouster test.
+
+    Args:
+        request (SubRequest): The pytest request object, used to access command line options
+
+    Returns:
+        LaunchDescription: The launch description for the ouster test.
+    """
+    Lidar(platform="ouster", position=[0, 0, 0.5], namespace=namespace)
+    launch = RegisteredLaunchDescription(
+        get_file_path("rcdt_launch", ["launch"], "robots.launch.py"),
+        launch_arguments={
+            "rviz": "False",
+            "simulation": request.config.getoption("simulation"),
+        },
+    )
+    return Register.connect_context([launch])
+
+
+@pytest.mark.launch(fixture=launch)
+def test_wait_for_register(timeout: int) -> None:
+    """Test that the robot is registered in the system to start the tests.
+
+    Args:
+        timeout (int): The timeout in seconds before stopping the test.
+    """
+    wait_for_register(timeout=timeout)
+
+
+@pytest.mark.launch(fixture=launch)
+def test_points_published(timeout: int) -> None:
+    """Test that the pointcloud is published.
+
+    Args:
+        timeout (int): The timeout in seconds to wait for the points to be published.
+    """
+    assert_for_message(PointCloud2, f"/{namespace}/scan/points", timeout=timeout)

ros2_ws/src/rcdt_test/rcdt_test/sensors/integration/test_velodyne.py

@@ -0,0 +1,57 @@
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+
+import launch_pytest
+import pytest
+from _pytest.fixtures import SubRequest
+from launch import LaunchDescription
+from rcdt_launch.robot import Lidar
+from rcdt_utilities.launch_utils import assert_for_message, get_file_path
+from rcdt_utilities.register import Register, RegisteredLaunchDescription
+from rcdt_utilities.test_utils import wait_for_register
+from sensor_msgs.msg import PointCloud2
+
+namespace = "velodyne"
+
+
+@launch_pytest.fixture(scope="module")
+def launch(request: SubRequest) -> LaunchDescription:
+    """Fixture to create launch file for the velodyne test.
+
+    Args:
+        request (SubRequest): The pytest request object, used to access command line options
+
+    Returns:
+        LaunchDescription: The launch description for the velodyne test.
+    """
+    Lidar(platform="velodyne", position=[0, 0, 0.5], namespace=namespace)
+    launch = RegisteredLaunchDescription(
+        get_file_path("rcdt_launch", ["launch"], "robots.launch.py"),
+        launch_arguments={
+            "rviz": "False",
+            "simulation": request.config.getoption("simulation"),
+        },
+    )
+    return Register.connect_context([launch])
+
+
+@pytest.mark.launch(fixture=launch)
+def test_wait_for_register(timeout: int) -> None:
+    """Test that the robot is registered in the system to start the tests.
+
+    Args:
+        timeout (int): The timeout in seconds before stopping the test.
+    """
+    wait_for_register(timeout=timeout)
+
+
+@pytest.mark.launch(fixture=launch)
+def test_points_published(timeout: int) -> None:
+    """Test that the pointcloud is published.
+
+    Args:
+        timeout (int): The timeout in seconds to wait for the points to be published.
+    """
+    assert_for_message(PointCloud2, f"/{namespace}/scan/points", timeout=timeout)