add camera unit test

src/camera/camera/camera_controller.py

@@ -28,7 +28,7 @@ class CameraController(Node):
 
         self.get_logger().info("Camera controller started. Waiting for service call...")
         self.srv = self.create_service(
-            TakePicture, 'drone/picture', self.take_picture_callback)
+            TakePicture, '/drone/picture', self.take_picture_callback)
         
         self.websocket = None
         self.server = None

src/camera/package.xml

@@ -11,9 +11,6 @@
     <exec_depend>drone_services</exec_depend>
     <exec_depend>sensor_msgs</exec_depend>
 
-    <test_depend>ament_copyright</test_depend>
-    <test_depend>ament_flake8</test_depend>
-    <test_depend>ament_pep257</test_depend>
     <test_depend>python3-pytest</test_depend>
 
     <export>

src/camera/test/test_camera.py

@@ -0,0 +1,72 @@
+import os
+import sys
+import unittest
+import time
+
+import launch
+import launch_ros
+import launch_ros.actions
+import launch_testing.actions
+import pytest
+import rclpy
+
+from drone_services.srv import TakePicture
+
+@pytest.mark.rostest
+def generate_test_description():
+    file_path = os.path.dirname(__file__)
+    camera_node = launch_ros.actions.Node(
+        executable=sys.executable,
+        arguments=[os.path.join(file_path, '..', 'camera', 'camera.py')],
+        additional_env={'PYTHONUNBUFFERED': '1'}
+    )
+
+    return (
+        launch.LaunchDescription([
+            camera_node,
+            launch_testing.actions.ReadyToTest(),
+        ]),
+        {
+            'camera_node': camera_node,
+        }
+    )
+
+class CameraUnitTest(unittest.TestCase):
+
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
+    
+    def setUp(self):
+        self.node = rclpy.create_node('test_camera')
+        self.service_called = False
+
+    def tearDown(self):
+        self.node.destroy_node()
+
+    def service_call_callback(self,future):
+        self.assertIsNotNone(future.result())
+        self.assertEqual(future.result().filename, "/home/ubuntu/test_image.jpg")
+        self.assertTrue(os.path.exists("/home/ubuntu/test_image.jpg"))
+        self.service_called = True
+
+    def test_camera_save_image(self,camera_node,proc_output):
+        # call camera service
+        camera_client = self.node.create_client(TakePicture, '/drone/take_picture')
+        while not camera_client.wait_for_service(timeout_sec=1.0):
+            self.node.get_logger().info('camera service not available, waiting again...')
+        request = TakePicture.Request()
+        request.input_name = "/home/ubuntu/test_image.jpg"
+        try:
+            while True:
+                rclpy.spin_once(self.node,timeout_sec=0.1)
+                if not self.service_called:
+                    camera_client.call_async(request).add_done_callback(self.service_call_callback)
+                else:
+                    break
+        finally:
+            self.node.destroy_client(camera_client)

src/camera/test/test_copyright.py

@@ -1,23 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, 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.
-
-from ament_copyright.main import main
-import pytest
-
-
-@pytest.mark.copyright
-@pytest.mark.linter
-def test_copyright():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found errors'

src/camera/test/test_flake8.py

@@ -1,25 +0,0 @@
-# Copyright 2017 Open Source Robotics Foundation, 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.
-
-from ament_flake8.main import main_with_errors
-import pytest
-
-
-@pytest.mark.flake8
-@pytest.mark.linter
-def test_flake8():
-    rc, errors = main_with_errors(argv=[])
-    assert rc == 0, \
-        'Found %d code style errors / warnings:\n' % len(errors) + \
-        '\n'.join(errors)

src/camera/test/test_pep257.py

@@ -1,23 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, 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.
-
-from ament_pep257.main import main
-import pytest
-
-
-@pytest.mark.linter
-@pytest.mark.pep257
-def test_pep257():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found code style errors / warnings'

src/failsafe/package.xml

@@ -8,10 +8,6 @@
   <license>Apache License 2.0</license>
   <depend>rclpy</depend>
   <depend>drone_services</depend>
-
-  <test_depend>ament_copyright</test_depend>
-  <test_depend>ament_flake8</test_depend>
-  <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
 
   <export>