#!/usr/bin/env python
from __future__ import print_function
import ecto_pcl
import unittest
class TestPcl(unittest.TestCase):
def test_import(self):
print(ecto_pcl)
if __name__ == '__main__':
import rosunit
rosunit.rosrun('ecto_pcl', 'test_import', TestPcl)
See README.md
"""
from unittest import TestCase
from sr_sample_python_library.sample_python_class import SamplePythonClass
class TestSamplePythonClass(TestCase):
def test_get_parameter_name_from_value(self):
my_convertor = SamplePythonClass()
param1 = "my_python_param_1"
param2 = "my_python_param_2"
expected_value1 = "my_python_param_1_test"
expected_value2 = "my_python_param_2_test"
self.assertEqual(expected_value1,
my_convertor.get_parameter_name_from_value(param1))
self.assertEqual(expected_value2,
my_convertor.get_parameter_name_from_value(param2))
if __name__ == '__main__':
import rosunit
rosunit.rosrun('sr_sample_python_library', 'test_sample_python_class',
TestSamplePythonClass)
See README.md
"""
from unittest import TestCase
from sr_sample_python_library.sample_python_class import SamplePythonClass
class TestSamplePythonClass(TestCase):
def test_get_parameter_name_from_value(self):
my_convertor = SamplePythonClass()
param1 = "my_python_param_1"
param2 = "my_python_param_2"
expected_value1 = "my_python_param_1_test"
expected_value2 = "my_python_param_2_test"
self.assertEqual(expected_value1,
my_convertor.get_parameter_name_from_value(param1))
self.assertEqual(expected_value2,
my_convertor.get_parameter_name_from_value(param2))
if __name__ == '__main__':
import rosunit
rosunit.rosrun('sr_sample_python_library', 'test_sample_python_class',
TestSamplePythonClass)
baggers=baggers,
bag=bagname,
)
im2mat_rgb = Image2Mat()
im2mat_depth = Image2Mat()
counter_rgb = ecto.Counter()
counter_depth = ecto.Counter()
graph = [
bagreader["image"] >> im2mat_rgb["image"],
bagreader["depth"] >> im2mat_depth["image"],
im2mat_rgb[:] >> counter_rgb[:],
im2mat_depth[:] >> counter_depth[:]
]
plasm = ecto.Plasm()
plasm.connect(graph)
#ecto.view_plasm(plasm)
plasm.execute(niter=0)
print "expecting count:", counts['/camera/rgb/image_color']
print "RGB count:", counter_rgb.outputs.count
print "Depth count:", counter_depth.outputs.count
assert counts['/camera/rgb/image_color'] == counter_rgb.outputs.count
assert counts['/camera/depth/image'] == counter_depth.outputs.count
if __name__ == "__main__":
import rosunit
rosunit.rosrun('ecto_ros', 'test_bag', TestBag)
baggers=baggers,
bag=bagname,
)
im2mat_rgb = Image2Mat()
im2mat_depth = Image2Mat()
counter_rgb = ecto.Counter()
counter_depth = ecto.Counter()
graph = [
bagreader["image"] >> im2mat_rgb["image"],
bagreader["depth"] >> im2mat_depth["image"],
im2mat_rgb[:] >> counter_rgb[:],
im2mat_depth[:] >> counter_depth[:]
]
plasm = ecto.Plasm()
plasm.connect(graph)
#ecto.view_plasm(plasm)
plasm.execute(niter=0)
print "expecting count:", counts['/camera/rgb/image_color']
print "RGB count:", counter_rgb.outputs.count
print "Depth count:", counter_depth.outputs.count
assert counts['/camera/rgb/image_color'] == counter_rgb.outputs.count
assert counts['/camera/depth/image'] == counter_depth.outputs.count
if __name__ == "__main__":
import rosunit
rosunit.rosrun('ecto_ros', 'test_bag', TestBag)
#!/usr/bin/env python
from __future__ import print_function
import ecto_pcl
import unittest
class TestPcl(unittest.TestCase):
def test_import(self):
print(ecto_pcl)
if __name__ == '__main__':
import rosunit
rosunit.rosrun('ecto_pcl', 'test_import', TestPcl)
robot_heading = 0
heading_error = self.controller._calc_heading_error(
self.start_xy, self.next_xy, robot_heading)
self.assertGreater(heading_error, 0)
robot_heading = 7 * np.pi / 4
heading_error = self.controller._calc_heading_error(
self.start_xy, self.next_xy, robot_heading)
self.assertGreater(heading_error, 0)
robot_heading = np.pi / 2
heading_error = self.controller._calc_heading_error(
self.start_xy, self.next_xy, robot_heading)
self.assertLess(heading_error, 0)
robot_heading = 5 * np.pi / 4 - 5 * np.pi / 180
heading_error = self.controller._calc_heading_error(
self.start_xy, self.next_xy, robot_heading)
self.assertLess(heading_error, 0)
robot_heading = 5 * np.pi / 4 + 5 * np.pi / 180
heading_error = self.controller._calc_heading_error(
self.start_xy, self.next_xy, robot_heading)
self.assertGreater(heading_error, 0)
if __name__ == '__main__':
import rosunit
rosunit.rosrun('repeat_trajectory', 'test_follow_trajectory',
TestFollowTrajectoryController)
#!/usr/bin/env python
import ecto
# just to test that the cv_bp import works
from ecto_opencv import cv_bp
from ecto_opencv import calib, features2d, imgproc, highgui
import unittest
class TestListModules(unittest.TestCase):
def test_list_modules(self):
ecto.list_ecto_module(features2d)
ecto.list_ecto_module(highgui)
ecto.list_ecto_module(calib)
ecto.list_ecto_module(imgproc)
if __name__ == '__main__':
import rosunit
rosunit.rosrun('ecto_opencv', 'test_ecto_opencv', TestListModules)
def _check_error_log_for_distance_error(message):
if "Distance between ar_marker_1 and ar_marker_3 is not matching " \
"appropriate robot marker distances" == message:
raise Exception(message)
def test_different_distances_between_frames(self):
rospy.get_param = TestConstraintsErrors._params_three_frames_mock
tf2_ros.TransformListener = SimpleMock
tf2_ros.TransformBroadcaster = SimpleMock
rospy.Time = SimpleMock
rospy.Rate = SimpleMock
rospy.is_shutdown = TestConstraintsErrors._return_false
tf2_ros.Buffer = BufferMock
rospy.logerr = \
TestConstraintsErrors._check_error_log_for_distance_error
try:
camera_calibration = CameraCalibration()
camera_calibration.start()
except Exception as e:
self.assertEqual(
"Distance between ar_marker_1 and ar_marker_3 is not matching "
"appropriate robot marker distances", e.message,
"Incorrect validation exception message")
if __name__ == '__main__':
import rosunit
rosunit.rosrun(PKG, 'test_constraints_errors', TestConstraintsErrors)
