Merge branch 'devel' into 'main'

add soft BioEstimation unit_test

See merge request !2

CMakeLists.txt

@@ -21,5 +21,11 @@ include_directories(
 
 catkin_install_python(PROGRAMS
   src/soft_biometrics_estimation.py
+  test/unittest_soft_biometrics_estimation.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+  add_rostest(test/test_soft_biometrics_estimation.test)
+endif()
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package.xml

@@ -12,6 +12,8 @@
   <build_depend>rospy</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
+  <build_depend>rostest</build_depend>
+
 
   <build_export_depend>rospy</build_export_depend>
   <build_export_depend>sensor_msgs</build_export_depend>

test/test_soft_biometrics_estimation.test

+<launch> 
+    <arg name="input_topic" default="/head_front_camera/color/image_raw/compressed/"/>
+
+    <node pkg="wp4_soft_biometrics_estimation" type="soft_biometrics_estimation.py" respawn="true" name="soft_biometrics_estimation">
+        <param name="input_topic" type="string" value="$(arg input_topic)"/>
+    </node>
+    <test test-name="test_soft_biometrics_estimation" pkg="wp4_soft_biometrics_estimation" type="unittest_soft_biometrics_estimation.py" />
+</launch>

test/unittest_soft_biometrics_estimation.py

+#!/usr/bin/env python3
+# -*- coding:utf-8 -*-
+import pathlib
+import sys
+
+file_path = pathlib.Path(__file__).parent.absolute()
+sys.path.append(str(file_path))
+sys.path.append(str(file_path.parent.parent))
+print(sys.path)
+
+import unittest
+
+# ROS libraries
+import roslib
+import rospy
+from time import sleep
+
+# Ros Messages
+from sensor_msgs.msg import CompressedImage
+from wp4_msgs.msg import BoxDetectionFrame, SoftBiometrics, SoftBiometricsFrame
+
+
+class TestSoftBioEstimation(unittest.TestCase):
+
+    soft_biometrics_estimation_ok = False
+
+    def _callback(self, data):
+        self.soft_biometrics_estimation_ok = True
+
+    def test_if_mask_detection_publish(self):
+        rospy.Subscriber("/vision_msgs/soft_biometrics", SoftBiometricsFrame, self._callback)
+
+        counter = 0
+        while not rospy.is_shutdown() and counter < 5 and (not self.soft_biometrics_estimation_ok):
+            sleep(1)
+            counter += 1
+
+        self.assertTrue(self.soft_biometrics_estimation_ok)
+        
+    
+if __name__ == "__main__":
+    import rostest
+    rospy.init_node("test_soft_bio_estimation", log_level=rospy.INFO)
+    rostest.rosrun("soft-biometrics-estimation", "unittest_soft_biometrics_estimation", TestSoftBioEstimation)
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