Added live camera tests

realsense2_camera/CMakeLists.txt

@@ -320,6 +320,36 @@ if(BUILD_TESTING)
     )
     endforeach()
   endforeach()
+
+  unset(_pytest_folders)
+
+  set(rs_query_cmd "rs-enumerate-devices -s")
+  execute_process(COMMAND bash -c ${rs_query_cmd}
+      WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
+      RESULT_VARIABLE rs_result
+      OUTPUT_VARIABLE RS_DEVICE_INFO)
+  message(STATUS "rs_device_info:")
+  message(STATUS "${RS_DEVICE_INFO}")
+  if((RS_DEVICE_INFO MATCHES "D455") OR (RS_DEVICE_INFO MATCHES "D415") OR (RS_DEVICE_INFO MATCHES "D435"))
+    message(STATUS "D455 device found")
+    set(_pytest_live_folders
+      test/live_camera
+    )
+  endif()
+
+  foreach(test_folder ${_pytest_live_folders})
+    file(GLOB files "${test_folder}/test_*.py")
+    foreach(file ${files})
+
+    get_filename_component(_test_name ${file} NAME_WE)
+    ament_add_pytest_test(${_test_name} ${file}
+      APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}:${CMAKE_SOURCE_DIR}/test/utils:${CMAKE_SOURCE_DIR}/launch:${CMAKE_SOURCE_DIR}/scripts
+      TIMEOUT 500
+      WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+    )
+    endforeach()
+  endforeach()
+
 endif()
 
 # Ament exports

realsense2_camera/package.xml

@@ -38,7 +38,8 @@
   <test_depend>sensor_msgs_py</test_depend>
   <test_depend>python3-requests</test_depend>
   <test_depend>tf2_ros_py</test_depend>
-
+  <test_depend>ros2topic</test_depend>
+
   <exec_depend>launch_ros</exec_depend>
   <build_depend>ros_environment</build_depend>
 

realsense2_camera/test/README.md

@@ -146,7 +146,32 @@ The below command finds the test with the name test_static_tf_1 in realsense2_ca
 
 	pytest-3 -s -k test_static_tf_1 realsense2_camera/test/
 
-### Points to be noted while writing pytests
-The tests that are in one file are nromally run in parallel. So if there are multiple tests in one file, the system capacity can influence the test execution. It's recomended to have 3-4 tests in file, more than that can affect the test results due to delays.
-
+### Marking tests as regression tests
+Some of the tests, especially the live tests with multiple runs, for e.g., all profile tests (test_camera_all_profile_tests.py) take a long time. Such tests are marked are skipped with condition so that "colcon test" skips it.
+If a user wants to add a test to this conditional skip, user can add by adding a marker as below.
+
+@pytest.mark.skipif (os.getenv('RS_ROS_REGRESSION', "not found") == "not found",reason="Regression is not enabled, define RS_ROS_REGRESSION")
+
+### Running skipped regression tests
+1. Set the environment variable RS_ROS_REGRESSION as 1 and run the "colcon test"
+2. pytest example: 
+	RS_ROS_REGRESSION=1 PYTHONPATH=$PYTHONPATH:$PWD/realsense2_camera/test/utils:$PWD/realsense2_camera//launch:$PWD/realsense2_camera//scripts pytest-3 -s realsense2_camera/test/live_camera/test_camera_aligned_tests.py -k test_camera_align_depth_color_all -m d415
+
+## Points to be noted while writing pytests
+The tests that are in one file are normally run in parallel. So if there are multiple tests in one file, the system capacity can influence the test execution. It's recomended to have 3-4 tests in file, more than that can affect the test results due to delays.
+### Passing/changing parameters
+The parameters passed while creating the node can be initialized individually for each test, please see the test_parameterized_template example for reference. The default values are taken from rs_launch.py and the passed parameters are used for overriding the default values. The parameters that can be dynamically modified can be changed using the param interface provided. However, the function create_param_ifs has to be called to create this interface. Please see the test_d455_basic_tests.py for reference. There are specific functions to change the string, integer and bool parameters, the utils can be extended if any more types are needed.
+### Difference in setting the bool parameters
+There is a difference between setting the default values of bool parameters and setting them dynamically.
+The bool test params are assinged withn quotes as below.
+	test_params_all_profiles_d455 = {
+		'camera_name': 'D455',
+		'device_type': 'D455',
+		'enable_accel':"True",
+		'enable_gyro':"True",
+		'unite_imu_method':1,
+		}
+
+However the function that implements the setting of bool parameter dynamically takes the python bool datatype. For example:
+	self.set_bool_param('enable_accel', False)
 

realsense2_camera/test/live_camera/test_camera_aligned_tests.py

@@ -0,0 +1,274 @@
+# 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.
+
+
+import os
+import sys
+import itertools
+
+
+import pytest
+import rclpy
+
+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
+
+import numpy as np
+
+sys.path.append(os.path.abspath(os.path.dirname(__file__)+"/../utils"))
+import pytest_rs_utils
+from pytest_rs_utils import launch_descr_with_parameters
+from pytest_rs_utils import delayed_launch_descr_with_parameters
+from pytest_rs_utils import get_rosbag_file_path
+from pytest_rs_utils import get_node_heirarchy
+import pytest_live_camera_utils
+from rclpy.parameter import Parameter
+from rcl_interfaces.msg import ParameterValue
+from rcl_interfaces.srv import SetParameters, GetParameters, ListParameters
+from pytest_live_camera_utils import debug_print
+
+
+
+test_params_align_depth_color_d455 = {
+    'camera_name': 'D455',
+    'device_type': 'D455',
+    'enable_color':'true',
+    'enable_depth':'true',
+    'depth_module.profile':'848x480x30',    
+    'rgb_camera.profile':'640x480x30',    
+    'align_depth.enable':'true'
+    }
+test_params_align_depth_color_d415 = {
+    'camera_name': 'D415',
+    'device_type': 'D415',
+    'enable_color':'true',
+    'enable_depth':'true',
+    'depth_module.profile':'848x480x30',    
+    'rgb_camera.profile':'640x480x30',    
+    'align_depth.enable':'true'
+    }
+'''
+This test was implemented as a template to set the parameters and run the test.
+This directory is not added to the CMakeLists.txt so as to avoid the colcon failure in the
+machines that don't have the D455 connected.
+1. Only a subset of parameter types are implemented in py_rs_utils, it has to be extended for others
+2. After setting the param, rclpy.spin_once may be needed.Test passes even without this though.
+'''
+@pytest.mark.parametrize("launch_descr_with_parameters",[
+    pytest.param(test_params_align_depth_color_d455, marks=pytest.mark.d455),
+    pytest.param(test_params_align_depth_color_d415, marks=pytest.mark.d415),
+    #pytest.param(test_params_align_depth_color_d435, marks=pytest.mark.d435),
+    ]
+    ,indirect=True)
+@pytest.mark.launch(fixture=launch_descr_with_parameters)
+class TestCamera_AlignDepthColor(pytest_rs_utils.RsTestBaseClass):
+    def test_camera_align_depth_color(self,launch_descr_with_parameters):
+        params = launch_descr_with_parameters[1]
+        themes = [
+        {'topic':get_node_heirarchy(params)+'/color/image_raw',
+         'msg_type':msg_Image,
+         'expected_data_chunks':1,
+         'width':640,
+         'height':480,
+        },
+        {'topic':get_node_heirarchy(params)+'/depth/image_rect_raw',
+         'msg_type':msg_Image,
+         'expected_data_chunks':1,
+         'width':848,
+         'height':480,
+        },
+        {'topic':get_node_heirarchy(params)+'/aligned_depth_to_color/image_raw',
+         'msg_type':msg_Image,
+         'expected_data_chunks':1,
+         'width':640,
+         'height':480,
+        },
+        ]
+        try:
+            ''' 
+            initialize, run and check the data 
+            '''
+            print("Starting camera test...")
+            self.init_test("RsTest"+params['camera_name'])
+            self.wait_for_node(params['camera_name'])
+            self.create_param_ifs(get_node_heirarchy(params))
+            ret = self.run_test(themes)
+            assert ret[0], ret[1]
+            assert self.process_data(themes)
+            self.set_string_param('rgb_camera.profile', '1280x720x30')
+            self.set_bool_param('enable_color', True)
+            themes[0]['width'] = 1280
+            themes[0]['height'] = 720
+            themes[2]['width'] = 1280
+            themes[2]['height'] = 720
+
+            ret = self.run_test(themes)
+            assert ret[0], ret[1]
+            assert self.process_data(themes)
+        finally:
+            #this step is important because the test will fail next time
+            pytest_rs_utils.kill_realsense2_camera_node()
+            self.shutdown()
+
+
+
+test_params_all_profiles_d455 = {
+    'camera_name': 'D455',
+    'device_type': 'D455',
+    'enable_color':'true',
+    'enable_depth':'true',
+    'depth_module.profile':'848x480x30',    
+    'rgb_camera.profile':'640x480x30',    
+    'align_depth.enable':'true'
+    }
+test_params_all_profiles_d415 = {
+    'camera_name': 'D415',
+    'device_type': 'D415',
+    'enable_color':'true',
+    'enable_depth':'true',
+    'depth_module.profile':'848x480x30',    
+    'rgb_camera.profile':'640x480x30',    
+    'align_depth.enable':'true'
+    }
+test_params_all_profiles_d435 = {
+    'camera_name': 'D435',
+    'device_type': 'D435',
+    'enable_color':'true',
+    'enable_depth':'true',
+    'depth_module.profile':'848x480x30',    
+    'rgb_camera.profile':'640x480x30',    
+    'align_depth.enable':'true'
+    }
+
+
+'''
+This test was implemented as a template to set the parameters and run the test.
+This directory is not added to the CMakeLists.txt so as to avoid the colcon failure in the
+machines that don't have the D455 connected.
+1. Only a subset of parameter types are implemented in py_rs_utils, it has to be extended for others
+2. After setting the param, rclpy.spin_once may be needed.Test passes even without this though.
+'''
+@pytest.mark.skipif (os.getenv('RS_ROS_REGRESSION', "not found") == "not found",reason="Regression is not enabled, define RS_ROS_REGRESSION")
+@pytest.mark.parametrize("launch_descr_with_parameters", [
+    pytest.param(test_params_all_profiles_d455, marks=pytest.mark.d455),
+    pytest.param(test_params_all_profiles_d415, marks=pytest.mark.d415),
+    pytest.param(test_params_all_profiles_d435, marks=pytest.mark.d435),]
+    ,indirect=True)
+@pytest.mark.launch(fixture=launch_descr_with_parameters)
+class TestCamera_AlignDepthColor(pytest_rs_utils.RsTestBaseClass):
+    def test_camera_align_depth_color_all(self,launch_descr_with_parameters):
+        skipped_tests = []
+        failed_tests = []
+        num_passed = 0
+        num_failed = 0
+        params = launch_descr_with_parameters[1]
+        themes = [
+        {'topic':get_node_heirarchy(params)+'/color/image_raw',
+         'msg_type':msg_Image,
+         'expected_data_chunks':1,
+         'width':640,
+         'height':480,
+        },
+        {'topic':get_node_heirarchy(params)+'/depth/image_rect_raw',
+         'msg_type':msg_Image,
+         'expected_data_chunks':1,
+         'width':848,
+         'height':480,
+        },
+        {'topic':get_node_heirarchy(params)+'/aligned_depth_to_color/image_raw',
+         'msg_type':msg_Image,
+         'expected_data_chunks':1,
+         'width':640,
+         'height':480,
+        },
+        ]
+        try:
+            ''' 
+            initialize, run and check the data 
+            '''
+            self.init_test("RsTest"+params['camera_name'])
+            self.spin_for_time(wait_time=1.0)
+            cap = pytest_live_camera_utils.get_camera_capabilities(params['device_type'])
+            if cap == None:
+                debug_print("Device not found? : " + params['device_type'])
+                return
+            self.create_param_ifs(get_node_heirarchy(params))
+            color_profiles = set([i[1] for i in cap["color_profile"] if i[2] == "RGB8"])
+            depth_profiles = set([i[1] for i in cap["depth_profile"] if i[0] == "Depth"])
+            for color_profile in color_profiles:
+                for depth_profile in depth_profiles:
+                    if depth_profile == color_profile:
+                        continue
+                    print("Testing the alignment of Depth:", depth_profile, " and Color:", color_profile)
+                    self.set_bool_param('enable_color', False)
+                    self.set_bool_param('enable_color', False)
+                    self.set_bool_param('align_depth.enable', False)
+
+                    themes[0]['width'] = themes[2]['width'] = int(color_profile.split('x')[0])
+                    themes[0]['height'] = themes[2]['height'] = int(color_profile.split('x')[1])
+                    themes[1]['width'] = int(depth_profile.split('x')[0])
+                    themes[1]['height'] = int(depth_profile.split('x')[1])
+                    dfps = int(depth_profile.split('x')[2])
+                    cfps = int(color_profile.split('x')[2])
+                    if dfps > cfps:
+                        fps = cfps
+                    else:
+                        fps = dfps
+                    timeout=100.0/fps
+                    #for the changes to take effect
+                    self.spin_for_time(wait_time=timeout/20)
+                    self.set_string_param('rgb_camera.profile', color_profile)
+                    self.set_string_param('depth_module.profile', depth_profile)
+                    self.set_bool_param('enable_color', True)
+                    self.set_bool_param('enable_color', True)
+                    self.set_bool_param('align_depth.enable', True)
+                    #for the changes to take effect
+                    self.spin_for_time(wait_time=timeout/20)
+                    try:
+                        ret = self.run_test(themes, timeout=timeout)
+                        assert ret[0], ret[1]
+                        assert self.process_data(themes), "".join(str(depth_profile) + " " + str(color_profile)) + " failed"
+                        num_passed += 1
+                    except Exception as e:
+                        exc_type, exc_obj, exc_tb = sys.exc_info()
+                        fname = os.path.split(exc_tb.tb_frame.f_code.co_filename)[1]
+                        print("Test failed")
+                        print("Tested the alignment of Depth:", depth_profile, " and Color:", color_profile, " with timeout ", timeout)
+                        print(e)
+                        print(exc_type, fname, exc_tb.tb_lineno)
+                        num_failed += 1
+                        failed_tests.append("".join(str(depth_profile) + " " + str(color_profile)))
+
+        finally:
+            #this step is important because the test will fail next time
+            pytest_rs_utils.kill_realsense2_camera_node()
+            self.shutdown()
+            print("Tests passed " + str(num_passed))
+            print("Tests skipped " + str(len(skipped_tests)))
+            if len(skipped_tests):
+                debug_print("\nSkipped tests:" + params['device_type'])
+                debug_print("\n".join(skipped_tests))
+            print("Tests failed " + str(num_failed))
+            if len(failed_tests):
+                print("\nFailed tests:" + params['device_type'])
+                print("\n".join(failed_tests))
+
+    def disable_all_params(self):
+        self.set_bool_param('enable_color', False)
+        self.set_bool_param('enable_depth', False)
+        self.set_bool_param('enable_infra', False)
+        self.set_bool_param('enable_infra1', False)
+        self.set_bool_param('enable_infra2', False)
+