def generate_test_description(ready_fn):
PORT = lidar_integration.get_open_port()
# The node under test and the checker node that will pass/fail our tests:
test_topic = "veloyne_cloud_node_test_topic"
velodyne_cloud_node = launch_ros.actions.LifecycleNode(
package="velodyne_node",
node_executable="velodyne_cloud_node_exe",
node_name="vlp16_driver_node",
node_namespace="lidar_front",
parameters=[
"{}/param/vlp16_test.param.yaml".format(
ament_index_python.get_package_share_directory(
"velodyne_node")), {
"port": PORT,
"cloud_size": 10700,
"expected_num_subscribers": 1,
}
],
remappings=[("points_raw", test_topic)],
arguments=["--model", "vlp16"])
pcl_checker = lidar_integration.make_pcl_checker(
topic=test_topic,
size=10700,
period=50,
)
return lidar_integration.get_lidar_launch_description(
test_nodes=[velodyne_cloud_node],
checkers=[pcl_checker],
other_actions=[
launch.actions.OpaqueFunction(function=lambda context: ready_fn())
],
port=PORT)
def generate_test_description(ready_fn):
PORT = lidar_integration.get_open_port()
# The nodes under test:
velodyne_block_node = launch_ros.actions.Node(
package="velodyne_node",
node_executable="velodyne_cloud_node_exe",
node_name="vlp16_test_node",
node_namespace="lidar_front",
parameters=[
os.path.join(
ament_index_python.get_package_share_directory("velodyne_node"),
"vlp16_test.param.yaml"
),
{
"port": PORT,
}
]
)
point_cloud_filter_transform_node = launch_ros.actions.Node(
package="point_cloud_filter_transform_nodes",
node_executable="point_cloud_filter_transform_node_exe",
node_name="point_cloud_filter_transform_node",
node_namespace="lidar_front",
parameters=[
os.path.join(
ament_index_python.get_package_share_directory(
"point_cloud_filter_transform_nodes"),
"param",
"test.param.yaml"
),
{
"expected_num_ground_subscribers": 1,
"expected_num_nonground_subscribers": 1,
}
],
remappings=[("points_in", "points_raw")]
)
filtered_points_checker = lidar_integration.make_pcl_checker(
topic="points_filtered",
size=16930,
period=100,
period_tolerance=1.0
)
return lidar_integration.get_lidar_launch_description(
test_nodes=[velodyne_block_node, point_cloud_filter_transform_node],
checkers=[filtered_points_checker],
other_actions=[
launch.actions.OpaqueFunction(function=lambda context: ready_fn())
],
port=PORT
)
#!/usr/bin/env python # Copyright 2018 Apex.AI, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. # # Co-developed by Tier IV, Inc. and Apex.AI, Inc. # This script prints out a free port from lidar_integration import get_open_port print(get_open_port(), end='')