rgbd_topics.cpp

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#include "rgbd_topics.h"  // NOLINT(build/include)

void topic0Callback(const sensor_msgs::ImageConstPtr msg)
{
  if ((msg->height != 0) && (msg->width != 0))
  {
    topic_0_recv = true;
  }
}

void topic1Callback(const sensor_msgs::ImageConstPtr msg)
{
  if ((msg->height != 0) && (msg->width != 0))
  {
    topic_1_recv = true;
  }
}

void topic2Callback(const sensor_msgs::ImageConstPtr msg)
{
  if ((msg->height != 0) && (msg->width != 0))
  {
    topic_2_recv = true;
  }
}

void topic3Callback(const sensor_msgs::ImageConstPtr msg)
{
  if ((msg->height != 0) && (msg->width != 0))
  {
    topic_3_recv = true;
  }
}

void topic4Callback(const sensor_msgs::ImageConstPtr msg)
{
  if ((msg->height != 0) && (msg->width != 0))
  {
    topic_4_recv = true;
  }
}

void topic5Callback(const sensor_msgs::ImageConstPtr msg)
{
  if ((msg->height != 0) && (msg->width != 0))
  {
    topic_5_recv = true;
  }
}

void topic6Callback(const sensor_msgs::ImageConstPtr msg)
{
  if ((msg->height != 0) && (msg->width != 0))
  {
    topic_6_recv = true;
  }
}

void topic7Callback(const sensor_msgs::PointCloud2ConstPtr msg)
{
  if ((msg->height != 0) && (msg->width != 0))
  {
    topic_7_recv = true;
  }
}

void topic8Callback(const sensor_msgs::ImageConstPtr msg)
{
  if ((msg->height != 0) && (msg->width != 0))
  {
    topic_8_recv = true;
  }
}

void topic9Callback(const sensor_msgs::ImageConstPtr msg)
{
  if ((msg->height != 0) && (msg->width != 0))
  {
    topic_9_recv = true;
  }
}

void topic10Callback(const sensor_msgs::CameraInfoConstPtr msg)
{
  if ((msg->height != 0) && (msg->width != 0))
  {
    topic_10_recv = true;
  }
}

void topic11Callback(const sensor_msgs::PointCloud2ConstPtr msg)
{
  if ((msg->height != 0) && (msg->width != 0))
  {
    topic_11_recv = true;
  }
}

void topic12Callback(const sensor_msgs::ImageConstPtr msg)
{
  if ((msg->height != 0) && (msg->width != 0))
  {
    topic_12_recv = true;
  }
}

TEST(RealsenseTests, rgb_image_mono)
{
  EXPECT_TRUE(topic_0_recv);
}

TEST(RealsenseTests, rgb_image_color)
{
  EXPECT_TRUE(topic_1_recv);
}

TEST(RealsenseTests, rgb_image_rect_mono)
{
  EXPECT_TRUE(topic_2_recv);
}

TEST(RealsenseTests, rgb_image_rect_color)
{
  EXPECT_TRUE(topic_3_recv);
}

TEST(RealsenseTests, depth_image_rect_raw)
{
  EXPECT_TRUE(topic_4_recv);
}

TEST(RealsenseTests, depth_image_rect)
{
  EXPECT_TRUE(topic_5_recv);
}

TEST(RealsenseTests, depth_image)
{
  EXPECT_TRUE(topic_6_recv);
}

TEST(RealsenseTests, depth_points)
{
  EXPECT_TRUE(topic_7_recv);
}

TEST(RealsenseTests, ir_image_rect_ir)
{
  EXPECT_TRUE(topic_8_recv);
}

TEST(RealsenseTests, depth_reg_sw_reg_image_rect_raw)
{
  EXPECT_TRUE(topic_9_recv);
}

TEST(RealsenseTests, depth_reg_sw_reg_camera_info)
{
  EXPECT_TRUE(topic_10_recv);
}

TEST(RealsenseTests, depth_reg_points)
{
  EXPECT_TRUE(topic_11_recv);
}

TEST(RealsenseTests, depth_reg_sw_reg_image_rect)
{
  EXPECT_TRUE(topic_12_recv);
}

void getParams()
{
  ros::NodeHandle pnh;
  pnh.param("camera", camera, CAMERA);
  pnh.param("rgb", rgb, RGB);
  pnh.param("depth", depth, DEPTH);
  pnh.param("ir", ir, IR);
  pnh.param("depth_registered", depth_registered, DEPTH_REGISTERED);
}

void setTopics()
{
  rgb_image_mono = "/" + camera + "/" + rgb + "/" + RGB_IMAGE_MONO;
  rgb_image_color = "/" + camera + "/" + rgb + "/" + RGB_IMAGE_COLOR;
  rgb_image_rect_mono = "/" + camera + "/" + rgb + "/" + RGB_IMAGE_RECT_MONO;
  rgb_image_rect_color = "/" + camera + "/" + rgb + "/" + RGB_IMAGE_RECT_COLOR;
  depth_image_rect_raw = "/" + camera + "/" + depth + "/" + DEPTH_IMAGE_RECT_RAW;
  depth_image_rect = "/" + camera + "/" + depth + "/" + DEPTH_IMAGE_RECT;
  depth_image = "/" + camera + "/" + depth + "/" + DEPTH_IMAGE;
  depth_points = "/" + camera + "/" + depth + "/" + DEPTH_POINTS;
  ir_image_rect_ir = "/" + camera + "/" + ir + "/" + IR_IMAGE_RECT_IR;
  depth_reg_sw_reg_image_rect_raw = "/" + camera + "/" + depth_registered + "/" + DEPTH_REG_SW_REG_IMAGE_RECT_RAW;
  depth_reg_sw_reg_camera_info = "/" + camera + "/" + depth_registered + "/" + DEPTH_REG_SW_REG_CAMERA_INFO;
  depth_reg_points = "/" + camera + "/" + depth_registered + "/" + DEPTH_REG_POINTS;
  depth_reg_sw_reg_image_rect = "/" + camera + "/" + depth_registered + "/" + DEPTH_REG_SW_REG_IMAGE_RECT;
}

int main(int argc, char **argv) try
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "utest");

  ROS_INFO_STREAM("RealSense Camera - Starting rgbd_launch Tests...");

  ros::NodeHandle nh;
  getParams();
  setTopics();

  subscriber[0] = nh.subscribe<sensor_msgs::Image>(rgb_image_mono, 1, topic0Callback, 0);
  subscriber[1] = nh.subscribe<sensor_msgs::Image>(rgb_image_color, 1, topic1Callback, 0);
  subscriber[2] = nh.subscribe<sensor_msgs::Image>(rgb_image_rect_mono, 1, topic2Callback, 0);
  subscriber[3] = nh.subscribe<sensor_msgs::Image>(rgb_image_rect_color, 1, topic3Callback, 0);
  subscriber[4] = nh.subscribe<sensor_msgs::Image>(depth_image_rect_raw, 1, topic4Callback, 0);
  subscriber[5] = nh.subscribe<sensor_msgs::Image>(depth_image_rect, 1, topic5Callback, 0);
  subscriber[6] = nh.subscribe<sensor_msgs::Image>(depth_image, 1, topic6Callback, 0);
  subscriber[7] = nh.subscribe<sensor_msgs::PointCloud2>(depth_points, 1, topic7Callback);
  subscriber[8] = nh.subscribe<sensor_msgs::Image>(ir_image_rect_ir, 1, topic8Callback, 0);
  subscriber[9] = nh.subscribe<sensor_msgs::Image>(depth_reg_sw_reg_image_rect_raw, 1, topic9Callback, 0);
  subscriber[10] = nh.subscribe<sensor_msgs::CameraInfo>(depth_reg_sw_reg_camera_info, 1, topic10Callback);
  subscriber[11] = nh.subscribe<sensor_msgs::PointCloud2>(depth_reg_points, 1, topic11Callback, 0);
  subscriber[12] = nh.subscribe<sensor_msgs::Image>(depth_reg_sw_reg_image_rect, 1, topic12Callback, 0);

  ros::Duration duration;
  duration.sec = 10;
  duration.sleep();
  ros::spinOnce();

  return RUN_ALL_TESTS();
}
catch(...) {}  // catch the "testing::internal::<unnamed>::ClassUniqueToAlwaysTrue" from gtest