lidar_integration.lidar_launch_description Namespace Reference

Functions
def	get_lidar_launch_description (*test_nodes, checkers, other_actions=[], port="21345", spoofer=None)
def	make_active_tests ()
def	make_post_shutdown_tests ()

Function Documentation

get_lidar_launch_description()

def lidar_integration.lidar_launch_description.get_lidar_launch_description	(	*	test_nodes,
			checkers,
			other_actions = [],
			port = "21345",
			spoofer = None
	)

Set up a launch description that can be used to run lidar integration tests.

:param test_nodes: An array of launch.actions that execute the nodes being tested

:param checkers: An array of launch.actions representing the checker processes that will test
the ROS ouput of the test_nodes

Checkers can be created using the lidar_integration.make_pcl_checker factory function.  One
checker is expected for each topic to be checked

:param other_actions: An optional list of other actions to be launched along with the checker
actions

:param port: The port number to use for the UDP spoofer.  Tests should use
lidar_ingetration.get_open_port() so as not to conflict with other tests that may run at the
same time

:param spoofer: To override the default vlp16_integration_spoofer (for the velodyne driver).
Compliant spoofers must write "Spoofer(s) number is:' to the console when they start to
output data

:returns: A tuple of (launch.LaunchDescription, test_context dictionary).  The test_context
dictionary must be part of the test_context returned by the parent generate_test_description
function.  Its members are considered private and are not expected to be used by the parent
test description function

make_active_tests()

def lidar_integration.lidar_launch_description.make_active_tests

(

)

make_post_shutdown_tests()

def lidar_integration.lidar_launch_description.make_post_shutdown_tests

(

)