diff --git a/dockerfiles/install_scripts/core_packages.sh b/dockerfiles/install_scripts/core_packages.sh index 4ba0b389..a15b323f 100755 --- a/dockerfiles/install_scripts/core_packages.sh +++ b/dockerfiles/install_scripts/core_packages.sh @@ -24,6 +24,7 @@ apt install -y \ ros-$ROS_DISTRO-moveit-visual-tools \ ros-$ROS_DISTRO-navigation2 \ ros-$ROS_DISTRO-nav2-bringup \ + ros-$ROS_DISTRO-ouster-ros \ ros-$ROS_DISTRO-plotjuggler-ros \ ros-$ROS_DISTRO-realsense2-camera \ ros-$ROS_DISTRO-realsense2-description \ diff --git a/docs/content/platforms.md b/docs/content/platforms.md index 6cdf83e4..d315e3a1 100644 --- a/docs/content/platforms.md +++ b/docs/content/platforms.md @@ -116,13 +116,25 @@ A ZED camera can be launched in simulation by creating a configuration with an * A ZED camera can be used by connecting it to the host device via USB. To allow non-root users to access the camera, UDEV rules must be installed on the host machine. The required script can be found [here](https://gist.github.com/adujardin/2d5ce8f000fc6a7bd40bee2709749ff8). +## Ouster + +![Ouster](../img/ouster/ouster_os1.png) + +### Simulation Ouster + +An Ouster lidar can be launched in simulation by creating a configuration with a *Lidar* of type *Ouster*. + +### Hardware Ouster + +*TODO: update when sensor has arrived.* + ## Velodyne ![Velodyne](../img/velodyne/velodyne.png) ### Simulation Velodyne -A Velodyne lidar can be launched in simulation by creating a configuration with an *Lidar* of type *velodyne*. +A Velodyne lidar can be launched in simulation by creating a configuration with a *Lidar* of type *velodyne*. ### Hardware Velodyne @@ -130,7 +142,6 @@ When using the Velodyne lidar, make sure that the IP-address of the host device | ![Velodyne settings](../img/velodyne/velodyne_settings.png) | ![Teltonika settings](../img/teltonika/teltonika_settings.png) | |-------------------------------------------------------------|----------------------------------------------------------------| -| velodyne settings | teltonika settings | ## Teltonika GPS diff --git a/docs/img/ouster/ouster_os1.png b/docs/img/ouster/ouster_os1.png new file mode 100644 index 00000000..689830b2 --- /dev/null +++ b/docs/img/ouster/ouster_os1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd59db9f3b22820b3af1e5a1a7b10ad20ca637a06215d884761b9a2179a3f2dc +size 157947 diff --git a/docs/img/ouster/ouster_os1.png.license b/docs/img/ouster/ouster_os1.png.license new file mode 100644 index 00000000..14a6ee96 --- /dev/null +++ b/docs/img/ouster/ouster_os1.png.license @@ -0,0 +1,3 @@ +SPDX-FileCopyrightText: Alliander N. V. + +SPDX-License-Identifier: Apache-2.0 diff --git a/ros2_ws/src/rcdt_launch/launch/robots.launch.py b/ros2_ws/src/rcdt_launch/launch/robots.launch.py index 8db01c19..48c7c0a1 100644 --- a/ros2_ws/src/rcdt_launch/launch/robots.launch.py +++ b/ros2_ws/src/rcdt_launch/launch/robots.launch.py @@ -22,7 +22,8 @@ "", "axis", "gps", - "lidar", + "ouster", + "velodyne", "realsense", "zed", "franka", @@ -34,9 +35,11 @@ "panther_gps", "panther_realsense", "panther_zed", - "panther_lidar", + "panther_velodyne", + "panther_ouster", "mm", - "mm_lidar", + "mm_velodyne", + "mm_ouster", "panther_and_franka", ], ) @@ -71,7 +74,9 @@ def launch_setup(context: LaunchContext) -> list: # noqa: PLR0912, PLR0915 Platform("axis", [0, 0, 0]) case "gps": GPS("nmea", [0, 0, 0.5], ip_address="10.15.20.202") - case "lidar": + case "ouster": + Lidar("ouster", [0, 0, 0.5]) + case "velodyne": Lidar("velodyne", [0, 0, 0.5]) case "realsense": Camera("realsense", [0, 0, 0.5]) @@ -106,16 +111,23 @@ def launch_setup(context: LaunchContext) -> list: # noqa: PLR0912, PLR0915 case "panther_zed": panther = Vehicle("panther", [0, 0, 0.2]) Camera("zed", [0, 0, 0.5], parent=panther) - case "panther_lidar": + case "panther_velodyne": panther = Vehicle("panther", [0, 0, 0.2], navigation=True) Lidar("velodyne", [0.13, -0.13, 0.35], parent=panther) + case "panther_ouster": + panther = Vehicle("panther", [0, 0, 0.2], navigation=True) + Lidar("ouster", [0.13, -0.13, 0.35], parent=panther) case "mm": panther = Vehicle("panther", [0, 0, 0.2]) Arm("franka", [0, 0, 0.14], gripper=True, parent=panther, moveit=True) - case "mm_lidar": + case "mm_velodyne": panther = Vehicle("panther", [0, 0, 0.2], navigation=True) Arm("franka", [0, 0, 0.14], gripper=True, parent=panther, moveit=True) Lidar("velodyne", [0.13, -0.13, 0.35], parent=panther) + case "mm_ouster": + panther = Vehicle("panther", [0, 0, 0.2], navigation=True) + Arm("franka", [0, 0, 0.14], gripper=True, parent=panther, moveit=True) + Lidar("ouster", [0.13, -0.13, 0.35], parent=panther) case "panther_and_franka": Vehicle("panther", [0, -0.5, 0.2]) Arm("franka", [0, 0.5, 0]) diff --git a/ros2_ws/src/rcdt_launch/rcdt_launch/robot.py b/ros2_ws/src/rcdt_launch/rcdt_launch/robot.py index a2636e6d..03667997 100644 --- a/ros2_ws/src/rcdt_launch/rcdt_launch/robot.py +++ b/ros2_ws/src/rcdt_launch/rcdt_launch/robot.py @@ -90,7 +90,16 @@ def order_platforms() -> None: Raises: ValueError: If an unknown platform is encountered. """ - order = ["panther", "franka", "velodyne", "realsense", "zed", "nmea", "axis"] + order = [ + "panther", + "franka", + "velodyne", + "ouster", + "realsense", + "zed", + "nmea", + "axis", + ] for platform in Platform.platforms: if platform.platform not in order: @@ -296,7 +305,14 @@ def create_map_links() -> list[Node]: def __init__( # noqa: PLR0913 self, platform: Literal[ - "panther", "franka", "velodyne", "realsense", "zed", "nmea", "axis" + "panther", + "franka", + "velodyne", + "ouster", + "realsense", + "zed", + "nmea", + "axis", ], position: list, orientation: list | None = None, @@ -307,7 +323,7 @@ def __init__( # noqa: PLR0913 """Initialize a robot instance. Args: - platform (Literal["panther", "franka", "velodyne", "realsense", "zed", "nmea", "axis"]): The platform type of the robot. + platform (Literal["panther", "franka", "velodyne", "ouster", "realsense", "zed", "nmea", "axis"]): The platform type of the robot. position (list): The initial position of the robot. orientation (list | None): The initial orientation of the robot. namespace (str | None): The namespace of the robot. If None, a unique namespace will be generated. @@ -400,6 +416,10 @@ def xacro_path(self) -> str: # noqa: PLR0911 return get_file_path( "rcdt_sensors", ["urdf"], "rcdt_velodyne.urdf.xacro" ) + case "ouster": + return get_file_path( + "rcdt_sensors", ["urdf"], "rcdt_os1_128.urdf.xacro" + ) case "realsense": return get_file_path( "rcdt_sensors", ["urdf"], "rcdt_realsense_d435.urdf.xacro" @@ -432,6 +452,8 @@ def base_link(self) -> str: # noqa: PLR0911 return "fr3_link0" case "velodyne": return "base_link" + case "ouster": + return "base_link" case "realsense": return "base_link" case "zed": @@ -685,7 +707,7 @@ class Lidar(Platform): def __init__( # noqa: PLR0913 self, - platform: Literal["velodyne"], + platform: Literal["velodyne", "ouster"], position: list, orientation: list | None = None, namespace: str | None = None, @@ -695,7 +717,7 @@ def __init__( # noqa: PLR0913 """Initialize the Lidar platform. Args: - platform (Literal["velodyne"]): The platform type. + platform (Literal["velodyne", "ouster"]): The platform type. position (list): The position of the lidar. orientation (list | None): The initial orientation of the lidar. namespace (str | None): The namespace of the lidar. @@ -723,7 +745,10 @@ def create_launch_description(self) -> list[RegisteredLaunchDescription]: list[RegisteredLaunchDescription]: The launch description for the platform. """ launch_descriptions = [] - launch_descriptions.append(self.create_velodyne_launch()) + if self.platform == "velodyne": + launch_descriptions.append(self.create_velodyne_launch()) + if self.platform == "ouster": + launch_descriptions.append(self.create_ouster_launch()) return launch_descriptions def create_velodyne_launch(self) -> RegisteredLaunchDescription: @@ -746,6 +771,26 @@ def create_velodyne_launch(self) -> RegisteredLaunchDescription: }, ) + def create_ouster_launch(self) -> RegisteredLaunchDescription: + """Create the Ouster launch description. + + Returns: + RegisteredLaunchDescription: The launch description for Ouster. + """ + if self.parent: + target_frame = f"{self.parent.namespace}/{self.parent.base_link}" + else: + target_frame = f"{self.namespace}/base_link" + + return RegisteredLaunchDescription( + get_file_path("rcdt_sensors", ["launch"], "ouster.launch.py"), + launch_arguments={ + "simulation": str(Platform.simulation), + "namespace": self.namespace, + "target_frame": target_frame, + }, + ) + class Arm(Platform): """Extension on Platform with arm specific functionalities.""" diff --git a/ros2_ws/src/rcdt_sensors/CMakeLists.txt b/ros2_ws/src/rcdt_sensors/CMakeLists.txt index a2dad451..d19d09d8 100644 --- a/ros2_ws/src/rcdt_sensors/CMakeLists.txt +++ b/ros2_ws/src/rcdt_sensors/CMakeLists.txt @@ -23,7 +23,7 @@ install( # Shared folders: install( - DIRECTORY launch urdf config + DIRECTORY launch urdf config meshes DESTINATION share/${PROJECT_NAME} ) @@ -32,4 +32,5 @@ if(BUILD_TESTING) ament_lint_auto_find_test_dependencies() endif() +ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.sh.in") ament_package() diff --git a/ros2_ws/src/rcdt_sensors/env-hooks/rcdt_sensors.sh.in b/ros2_ws/src/rcdt_sensors/env-hooks/rcdt_sensors.sh.in new file mode 100644 index 00000000..85a29764 --- /dev/null +++ b/ros2_ws/src/rcdt_sensors/env-hooks/rcdt_sensors.sh.in @@ -0,0 +1,5 @@ +# SPDX-FileCopyrightText: Alliander N. V. +# +# SPDX-License-Identifier: Apache-2.0 + +ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "@CMAKE_INSTALL_PREFIX@/share" \ No newline at end of file diff --git a/ros2_ws/src/rcdt_sensors/launch/ouster.launch.py b/ros2_ws/src/rcdt_sensors/launch/ouster.launch.py new file mode 100644 index 00000000..4b3d5143 --- /dev/null +++ b/ros2_ws/src/rcdt_sensors/launch/ouster.launch.py @@ -0,0 +1,66 @@ +# SPDX-FileCopyrightText: Alliander N. V. +# +# SPDX-License-Identifier: Apache-2.0 + + +from launch import LaunchContext, LaunchDescription +from launch.actions import OpaqueFunction +from launch_ros.actions import Node +from rcdt_utilities.launch_utils import LaunchArgument +from rcdt_utilities.register import Register + +use_sim_arg = LaunchArgument("simulation", True, [True, False]) +namespace_arg = LaunchArgument("namespace", "ouster") +target_frame_arg = LaunchArgument("target_frame", "") + + +def launch_setup(context: LaunchContext) -> list: + """Setup the launch description for the Ouster lidar. + + Args: + context (LaunchContext): The launch context. + + Returns: + list: A list of actions to be executed. + """ + # Simulation-only setup + namespace = namespace_arg.string_value(context) + target_frame = target_frame_arg.string_value(context) + + pointcloud_to_laserscan_node = Node( + package="pointcloud_to_laserscan", + executable="pointcloud_to_laserscan_node", + remappings=[ + ("cloud_in", f"/{namespace}/scan/points"), + ("scan", f"/{namespace}/scan"), + ], + parameters=[ + { + "target_frame": target_frame, + "min_height": 0.1, + "max_height": 2.0, + "range_min": 0.05, + "range_max": 90.0, + } + ], + namespace=namespace, + ) + + return [ + Register.on_start(pointcloud_to_laserscan_node, context), + ] + + +def generate_launch_description() -> LaunchDescription: + """Generate the launch description for the realsense camera. + + Returns: + LaunchDescription: The launch description for the realsense camera. + """ + return LaunchDescription( + [ + use_sim_arg.declaration, + namespace_arg.declaration, + OpaqueFunction(function=launch_setup), + ] + ) diff --git a/ros2_ws/src/rcdt_sensors/launch/velodyne.launch.py b/ros2_ws/src/rcdt_sensors/launch/velodyne.launch.py index 5dcaa3f3..865e287a 100644 --- a/ros2_ws/src/rcdt_sensors/launch/velodyne.launch.py +++ b/ros2_ws/src/rcdt_sensors/launch/velodyne.launch.py @@ -15,7 +15,7 @@ def launch_setup(context: LaunchContext) -> list: - """Setup the launch description for the realsense camera. + """Setup the launch description for the Velodyne lidar. 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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + 7.54979e-9 -7.62036e-9 0.1 0 0.1 5.75321e-16 -7.54979e-9 0 0 0.1009348 7.54979e-9 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/ros2_ws/src/rcdt_sensors/meshes/os1_128.dae.license b/ros2_ws/src/rcdt_sensors/meshes/os1_128.dae.license new file mode 100644 index 00000000..14a6ee96 --- /dev/null +++ b/ros2_ws/src/rcdt_sensors/meshes/os1_128.dae.license @@ -0,0 +1,3 @@ +SPDX-FileCopyrightText: Alliander N. V. + +SPDX-License-Identifier: Apache-2.0 diff --git a/ros2_ws/src/rcdt_sensors/urdf/rcdt_os1_128.urdf.xacro b/ros2_ws/src/rcdt_sensors/urdf/rcdt_os1_128.urdf.xacro new file mode 100644 index 00000000..e47e5ca3 --- /dev/null +++ b/ros2_ws/src/rcdt_sensors/urdf/rcdt_os1_128.urdf.xacro @@ -0,0 +1,128 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + ${update_rate} + + ${namespace}/scan + false + + ${namespace}/${name} + ${namespace}/${name} + + + + + ${samples} + 1 + ${min_angle} + ${max_angle} + + + ${lasers} + 1 + -${21.2*M_PI/180.0} + ${21.2*M_PI/180.0} + + + + ${min_range} + ${max_range} + 0.001 + + + gaussian + 0.0 + 0.0 + + + + + + + + + + + + + \ No newline at end of file diff --git a/ros2_ws/src/rcdt_test/rcdt_test/panther/integration/test_panther_nav2_ouster.py b/ros2_ws/src/rcdt_test/rcdt_test/panther/integration/test_panther_nav2_ouster.py new file mode 100644 index 00000000..8a54759e --- /dev/null +++ b/ros2_ws/src/rcdt_test/rcdt_test/panther/integration/test_panther_nav2_ouster.py @@ -0,0 +1,155 @@ +# SPDX-FileCopyrightText: Alliander N. V. +# +# SPDX-License-Identifier: Apache-2.0 + + +import launch_pytest +import numpy as np +import pytest +import rclpy +from _pytest.fixtures import SubRequest +from action_msgs.msg import GoalStatus +from geometry_msgs.msg import PoseStamped +from launch import LaunchDescription +from nav2_msgs.action import NavigateToPose +from rcdt_launch.robot import Lidar, Vehicle +from rcdt_utilities.launch_utils import assert_for_message, get_file_path +from rcdt_utilities.register import Register, RegisteredLaunchDescription +from rcdt_utilities.test_utils import ( + call_trigger_service, + create_ready_action_client, + wait_for_register, +) +from rclpy.action.client import ClientGoalHandle +from rclpy.node import Node +from rclpy.task import Future +from sensor_msgs.msg import JointState +from tf_transformations import quaternion_from_euler + +namespace_vehicle = "panther" +namespace_lidar = "ouster" + + +@launch_pytest.fixture(scope="module") +def panther_launch(request: SubRequest) -> LaunchDescription: + """Fixture to create launch file for panther robot. + + Args: + request (SubRequest): The pytest request object, used to access command line options + + Returns: + LaunchDescription: The launch description for the panther robot. + """ + vehicle = Vehicle( + platform="panther", + position=[0, 0, 0.2], + namespace=namespace_vehicle, + navigation=True, + ) + Lidar("ouster", [0.13, -0.13, 0.35], parent=vehicle, namespace=namespace_lidar) + launch = RegisteredLaunchDescription( + get_file_path("rcdt_launch", ["launch"], "robots.launch.py"), + launch_arguments={ + "rviz": "False", + "simulation": request.config.getoption("simulation"), + }, + ) + return Register.connect_context([launch]) + + +@pytest.mark.timeout(150) +@pytest.mark.launch(fixture=panther_launch) +def test_wait_for_register(timeout: int) -> None: + """Test that the panther core is registered in the RCDT. + + Args: + timeout (int): The timeout in seconds to wait for the panther core to register. + """ + wait_for_register(timeout=timeout) + + +@pytest.mark.launch(fixture=panther_launch) +def test_joint_states_published(timeout: int) -> None: + """Test that the joint states are published. + + Args: + timeout (int): The timeout in seconds to wait for the joint states to be published. + """ + assert_for_message( + JointState, f"/{namespace_vehicle}/joint_states", timeout=timeout + ) + + +@pytest.mark.launch(fixture=panther_launch) +def test_e_stop_request_reset( + request: SubRequest, test_node: Node, timeout: int +) -> None: + """Test that the E-Stop request service can be called to unlock the Panther. + + Args: + request (SubRequest): The pytest request object, used to access command line options + test_node (Node): The ROS 2 node to use for the test. + timeout (int): The timeout in seconds to wait before failing the test. + """ + if request.config.getoption("simulation"): + pytest.skip("E-Stop is not available.") # ty: ignore[call-non-callable] + assert ( + call_trigger_service( + node=test_node, + service_name=f"/{namespace_vehicle}/hardware/e_stop_reset", + timeout=timeout, + ) + is True + ) + + +@pytest.mark.launch(fixture=panther_launch) +def test_nav2_goal(test_node: Node, timeout: int) -> None: + """Test that the Panther can receive and process a navigation goal. + + Args: + test_node (Node): The ROS 2 node to use for the test. + timeout (int): The timeout in seconds to wait for the goal to be processed. + """ + action_client = create_ready_action_client( + node=test_node, + action_type=NavigateToPose, + action_name=f"{namespace_vehicle}/navigate_to_pose", + timeout=timeout, + ) + + goal_msg = NavigateToPose.Goal() + + pose_stamped = PoseStamped() + + pose_stamped.header.stamp = test_node.get_clock().now().to_msg() + pose_stamped.header.frame_id = "map" + + # 2) Position: + pose_stamped.pose.position.x = 0.3 + pose_stamped.pose.position.y = 0.0 + pose_stamped.pose.position.z = 0.0 + + # 3) Orientation with 30 degrees (quaternion): + yaw = 30.0 * (np.pi / 180.0) + qx, qy, qz, qw = quaternion_from_euler(0.0, 0.0, yaw) + pose_stamped.pose.orientation.x = qx + pose_stamped.pose.orientation.y = qy + pose_stamped.pose.orientation.z = qz + pose_stamped.pose.orientation.w = qw + + goal_msg.pose = pose_stamped + + future = action_client.send_goal_async(goal_msg) + rclpy.spin_until_future_complete(test_node, future, timeout_sec=timeout) + goal_handle: ClientGoalHandle = future.result() + + assert goal_handle.accepted + + result_future: Future = goal_handle.get_result_async() + rclpy.spin_until_future_complete(test_node, result_future, timeout_sec=timeout) + + result: NavigateToPose.Impl.GetResultService.Response = result_future.result() + assert result.status == GoalStatus.STATUS_SUCCEEDED, ( + f"Navigation failed with status: {result.status}" + ) diff --git a/ros2_ws/src/rcdt_test/rcdt_test/panther/integration/test_panther_nav2.py b/ros2_ws/src/rcdt_test/rcdt_test/panther/integration/test_panther_nav2_velodyne.py similarity index 100% rename from ros2_ws/src/rcdt_test/rcdt_test/panther/integration/test_panther_nav2.py rename to ros2_ws/src/rcdt_test/rcdt_test/panther/integration/test_panther_nav2_velodyne.py diff --git a/ros2_ws/src/rcdt_test/rcdt_test/sensors/integration/test_ouster.py b/ros2_ws/src/rcdt_test/rcdt_test/sensors/integration/test_ouster.py new file mode 100644 index 00000000..4abe0c7e --- /dev/null +++ b/ros2_ws/src/rcdt_test/rcdt_test/sensors/integration/test_ouster.py @@ -0,0 +1,57 @@ +# SPDX-FileCopyrightText: Alliander N. V. +# +# SPDX-License-Identifier: Apache-2.0 + + +import launch_pytest +import pytest +from _pytest.fixtures import SubRequest +from launch import LaunchDescription +from rcdt_launch.robot import Lidar +from rcdt_utilities.launch_utils import assert_for_message, get_file_path +from rcdt_utilities.register import Register, RegisteredLaunchDescription +from rcdt_utilities.test_utils import wait_for_register +from sensor_msgs.msg import PointCloud2 + +namespace = "ouster" + + +@launch_pytest.fixture(scope="module") +def launch(request: SubRequest) -> LaunchDescription: + """Fixture to create launch file for the ouster test. + + Args: + request (SubRequest): The pytest request object, used to access command line options + + Returns: + LaunchDescription: The launch description for the ouster test. + """ + Lidar(platform="ouster", position=[0, 0, 0.5], namespace=namespace) + launch = RegisteredLaunchDescription( + get_file_path("rcdt_launch", ["launch"], "robots.launch.py"), + launch_arguments={ + "rviz": "False", + "simulation": request.config.getoption("simulation"), + }, + ) + return Register.connect_context([launch]) + + +@pytest.mark.launch(fixture=launch) +def test_wait_for_register(timeout: int) -> None: + """Test that the robot is registered in the system to start the tests. + + Args: + timeout (int): The timeout in seconds before stopping the test. + """ + wait_for_register(timeout=timeout) + + +@pytest.mark.launch(fixture=launch) +def test_points_published(timeout: int) -> None: + """Test that the pointcloud is published. + + Args: + timeout (int): The timeout in seconds to wait for the points to be published. + """ + assert_for_message(PointCloud2, f"/{namespace}/scan/points", timeout=timeout) diff --git a/ros2_ws/src/rcdt_test/rcdt_test/sensors/integration/test_velodyne.py b/ros2_ws/src/rcdt_test/rcdt_test/sensors/integration/test_velodyne.py new file mode 100644 index 00000000..9ee4f21b --- /dev/null +++ b/ros2_ws/src/rcdt_test/rcdt_test/sensors/integration/test_velodyne.py @@ -0,0 +1,57 @@ +# SPDX-FileCopyrightText: Alliander N. V. +# +# SPDX-License-Identifier: Apache-2.0 + + +import launch_pytest +import pytest +from _pytest.fixtures import SubRequest +from launch import LaunchDescription +from rcdt_launch.robot import Lidar +from rcdt_utilities.launch_utils import assert_for_message, get_file_path +from rcdt_utilities.register import Register, RegisteredLaunchDescription +from rcdt_utilities.test_utils import wait_for_register +from sensor_msgs.msg import PointCloud2 + +namespace = "velodyne" + + +@launch_pytest.fixture(scope="module") +def launch(request: SubRequest) -> LaunchDescription: + """Fixture to create launch file for the velodyne test. + + Args: + request (SubRequest): The pytest request object, used to access command line options + + Returns: + LaunchDescription: The launch description for the velodyne test. + """ + Lidar(platform="velodyne", position=[0, 0, 0.5], namespace=namespace) + launch = RegisteredLaunchDescription( + get_file_path("rcdt_launch", ["launch"], "robots.launch.py"), + launch_arguments={ + "rviz": "False", + "simulation": request.config.getoption("simulation"), + }, + ) + return Register.connect_context([launch]) + + +@pytest.mark.launch(fixture=launch) +def test_wait_for_register(timeout: int) -> None: + """Test that the robot is registered in the system to start the tests. + + Args: + timeout (int): The timeout in seconds before stopping the test. + """ + wait_for_register(timeout=timeout) + + +@pytest.mark.launch(fixture=launch) +def test_points_published(timeout: int) -> None: + """Test that the pointcloud is published. + + Args: + timeout (int): The timeout in seconds to wait for the points to be published. + """ + assert_for_message(PointCloud2, f"/{namespace}/scan/points", timeout=timeout)