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realsense2_camera/test/live_camera/test_camera_tf_tests.py
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| # Copyright 2023 Intel Corporation. All Rights Reserved. | ||
| # | ||
| # 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. | ||
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| import os | ||
| import sys | ||
| import itertools | ||
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| import pytest | ||
| import rclpy | ||
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| from rclpy.qos import DurabilityPolicy | ||
| from rclpy.qos import HistoryPolicy | ||
| from rclpy.qos import QoSProfile | ||
| import tf2_ros | ||
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| from sensor_msgs.msg import Image as msg_Image | ||
| from sensor_msgs.msg import Imu as msg_Imu | ||
| from sensor_msgs.msg import PointCloud2 as msg_PointCloud2 | ||
| from tf2_msgs.msg import TFMessage as msg_TFMessage | ||
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| import numpy as np | ||
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| sys.path.append(os.path.abspath(os.path.dirname(__file__)+"/../utils")) | ||
| import pytest_rs_utils | ||
| from pytest_rs_utils import launch_descr_with_parameters | ||
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| import pytest_live_camera_utils | ||
| from pytest_rs_utils import get_rosbag_file_path | ||
| from pytest_rs_utils import get_node_heirarchy | ||
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| from rclpy.parameter import Parameter | ||
| from rcl_interfaces.msg import ParameterValue | ||
| from rcl_interfaces.srv import SetParameters, GetParameters, ListParameters | ||
|
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| ''' | ||
| The test was implemented to check the tf_static before and after infra1 was enabled. There shouldn't be any | ||
| related data before enabling. | ||
| ''' | ||
| test_params_tf_static_change_d455 = { | ||
| 'camera_name': 'D455', | ||
| 'device_type': 'D455', | ||
| 'enable_infra1': 'false', | ||
| 'enable_infra2': 'true', | ||
| 'enable_accel': 'true', | ||
| 'enable_gyro': 'true', | ||
| } | ||
| test_params_tf_static_change_d435 = { | ||
| 'camera_name': 'D435', | ||
| 'device_type': 'D435', | ||
| 'enable_infra1': 'false', | ||
| 'enable_infra2': 'true', | ||
| 'enable_accel': 'true', | ||
| 'enable_gyro': 'true', | ||
| } | ||
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| test_params_tf_static_change_d415 = { | ||
| 'camera_name': 'D415', | ||
| 'device_type': 'D415', | ||
| 'enable_infra1': 'false', | ||
| 'enable_infra2': 'true', | ||
| 'enable_accel': 'true', | ||
| 'enable_gyro': 'true', | ||
| } | ||
| @pytest.mark.parametrize("launch_descr_with_parameters", [ | ||
| pytest.param(test_params_tf_static_change_d455, marks=pytest.mark.d455), | ||
| pytest.param(test_params_tf_static_change_d435, marks=pytest.mark.d435), | ||
| pytest.param(test_params_tf_static_change_d415, marks=pytest.mark.d415), | ||
| ],indirect=True) | ||
| @pytest.mark.launch(fixture=launch_descr_with_parameters) | ||
| class TestCamera_TestTF_Static_change(pytest_rs_utils.RsTestBaseClass): | ||
| def test_camera_test_tf_static_change(self,launch_descr_with_parameters): | ||
| self.params = launch_descr_with_parameters[1] | ||
| if pytest_live_camera_utils.check_if_camera_connected(self.params['device_type']) == False: | ||
| print("Device not found? : " + self.params['device_type']) | ||
| return | ||
| themes = [ | ||
| {'topic':'/tf_static', | ||
| 'msg_type':msg_TFMessage, | ||
| 'expected_data_chunks':1, | ||
| 'qos' : QoSProfile(depth=100,durability=DurabilityPolicy.TRANSIENT_LOCAL,history=HistoryPolicy.KEEP_LAST,)#static | ||
| } | ||
| ] | ||
| try: | ||
| ''' | ||
| initialize, run and check the data | ||
| ''' | ||
| self.init_test("RsTest"+self.params['camera_name']) | ||
| self.wait_for_node(self.params['camera_name']) | ||
| self.create_param_ifs(get_node_heirarchy(self.params)) | ||
| ret = self.run_test(themes, timeout=10) | ||
| assert ret[0], ret[1] | ||
| frame_ids = [self.params['camera_name']+'_link', | ||
| self.params['camera_name']+'_depth_frame', | ||
| self.params['camera_name']+'_infra1_frame', | ||
| self.params['camera_name']+'_infra2_frame', | ||
| self.params['camera_name']+'_color_frame'] | ||
| if self.params['device_type'] == 'D455': | ||
| frame_ids.append(self.params['camera_name']+'_gyro_frame') | ||
| frame_ids.append(self.params['camera_name']+'_accel_frame') | ||
|
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| ret = self.process_data(themes, False) | ||
| assert ret[0], ret[1] | ||
| assert self.set_bool_param('enable_infra1', True) | ||
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| ret = self.run_test(themes, timeout=10) | ||
| assert ret[0], ret[1] | ||
| ret = self.process_data(themes, True) | ||
| assert ret[0], ret[1] | ||
| finally: | ||
| self.shutdown() | ||
| def process_data(self, themes, enable_infra1): | ||
| frame_ids = [self.params['camera_name']+'_link', | ||
| self.params['camera_name']+'_depth_frame', | ||
| self.params['camera_name']+'_infra2_frame', | ||
| self.params['camera_name']+'_color_frame'] | ||
| if self.params['device_type'] == 'D455': | ||
| frame_ids.append(self.params['camera_name']+'_gyro_frame') | ||
| frame_ids.append(self.params['camera_name']+'_accel_frame') | ||
| if enable_infra1: | ||
| frame_ids.append(self.params['camera_name']+'_infra1_frame') | ||
|
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| data = self.node.pop_first_chunk('/tf_static') | ||
| ret = self.check_transform_data(data, frame_ids, True) | ||
| return ret | ||
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| test_params_tf_d455 = { | ||
| 'camera_name': 'D455', | ||
| 'device_type': 'D455', | ||
| 'publish_tf': 'true', | ||
| 'tf_publish_rate': '1.1', | ||
| } | ||
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| test_params_tf_d435 = { | ||
| 'camera_name': 'D435', | ||
| 'device_type': 'D435', | ||
| 'publish_tf': 'true', | ||
| 'tf_publish_rate': '1.1', | ||
| } | ||
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| test_params_tf_d415 = { | ||
| 'camera_name': 'D415', | ||
| 'device_type': 'D415', | ||
| 'publish_tf': 'true', | ||
| 'tf_publish_rate': '1.1', | ||
| } | ||
| @pytest.mark.parametrize("launch_descr_with_parameters", [ | ||
| pytest.param(test_params_tf_d455, marks=pytest.mark.d455), | ||
| pytest.param(test_params_tf_d435, marks=pytest.mark.d415), | ||
| pytest.param(test_params_tf_d415, marks=pytest.mark.d415), | ||
| ],indirect=True) | ||
| @pytest.mark.launch(fixture=launch_descr_with_parameters) | ||
| class TestCamera_TestTF_DYN(pytest_rs_utils.RsTestBaseClass): | ||
| def test_camera_test_tf_dyn(self,launch_descr_with_parameters): | ||
| self.params = launch_descr_with_parameters[1] | ||
| if pytest_live_camera_utils.check_if_camera_connected(self.params['device_type']) == False: | ||
| print("Device not found? : " + self.params['device_type']) | ||
| return | ||
| themes = [ | ||
| {'topic':'/tf', | ||
| 'msg_type':msg_TFMessage, | ||
| 'expected_data_chunks':3, | ||
| 'qos' : QoSProfile(depth=100,durability=DurabilityPolicy.VOLATILE,history=HistoryPolicy.KEEP_LAST,) | ||
| #'qos' : QoSProfile(depth=100,durability=DurabilityPolicy.TRANSIENT_LOCAL,history=HistoryPolicy.KEEP_LAST,)#static | ||
| }, | ||
| {'topic':'/tf_static', | ||
| 'msg_type':msg_TFMessage, | ||
| 'expected_data_chunks':1, | ||
| #'qos' : QoSProfile(depth=100,durability=DurabilityPolicy.VOLATILE,history=HistoryPolicy.KEEP_LAST,) | ||
| 'qos' : QoSProfile(depth=100,durability=DurabilityPolicy.TRANSIENT_LOCAL,history=HistoryPolicy.KEEP_LAST,)#static | ||
| } | ||
| ] | ||
| try: | ||
| ''' | ||
| initialize, run and check the data | ||
| ''' | ||
| self.init_test("RsTest"+self.params['camera_name']) | ||
| self.wait_for_node(self.params['camera_name']) | ||
| self.create_param_ifs(get_node_heirarchy(self.params)) | ||
| ret = self.run_test(themes, timeout=10) | ||
| assert ret[0], ret[1] | ||
| ret = self.process_data(themes, False) | ||
| assert ret[0], ret[1] | ||
| finally: | ||
| self.shutdown() | ||
|
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| def process_data(self, themes, enable_infra1): | ||
| frame_ids = [self.params['camera_name']+'_link', | ||
| self.params['camera_name']+'_depth_frame', | ||
| self.params['camera_name']+'_color_frame'] | ||
| data = self.node.pop_first_chunk('/tf_static') | ||
| ret = self.check_transform_data(data, frame_ids, True) | ||
| assert ret[0], ret[1] | ||
| data = self.node.pop_first_chunk('/tf') | ||
| ret = self.check_transform_data(data, frame_ids) | ||
| assert ret[0], ret[1] | ||
| data = self.node.pop_first_chunk('/tf') | ||
| ret = self.check_transform_data(data, frame_ids) | ||
| assert ret[0], ret[1] | ||
| data = self.node.pop_first_chunk('/tf') | ||
| ret = self.check_transform_data(data, frame_ids) | ||
| assert ret[0], ret[1] | ||
| #return True, "" | ||
|
|
||
| return True, "" |
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