import pytest from sensor_msgs.msg import Image from camera_object_detection.yolov8_detection import CameraDetectionNode + @pytest.mark.launch_test def generate_test_description():

@classmethod def setUpClass(cls): rclpy.init() - cls.node = CameraDetectionNode() # create a CameraDetectionNode to test + cls.node = CameraDetectionNode() # create a CameraDetectionNode to test cls.logs_received = [] cls.images_received = []

# Test the image_callback function of the CameraDetectionNode node self.node.image_callback(dummy_image) - + # Spin some time to collect logs end_time = self.node.get_clock().now() + rclpy.time.Duration(seconds=10) while rclpy.ok() and self.node.get_clock().now() < end_time: rclpy.spin_once(self.node, timeout_sec=0.1) # Check if the expected log messages were received - expected_log_messages = ["Successfully created node listening on camera topic:", "Finished in:"] # From CameraDetectionNode logger + # From CameraDetectionNode logger + expected_log_messages = [ + "Successfully created node listening on camera topic:", "Finished in:"] for expected_msg in expected_log_messages: message_logged = any( expected_msg in log.msg and log.name == "camera_object_detection_node" for log in self.logs_received ) - self.assertTrue(message_logged, f"Expected log message '{expected_msg}' not found in the logs.") + self.assertTrue( + message_logged, f"Expected log message '{expected_msg}' not found in the logs.") - self.assertTrue(len(self.images_received) > 0, "No visualization images were published.") # Check that given an image, the node is publishing + # Check that given an image, the node is publishing + self.assertTrue(len(self.images_received) > 0, "No visualization images were published.") + if __name__ == '__main__': unittest.main()

ld.add_action(camera_object_detection_node) - return ld \ No newline at end of file + return ld

Process completed with exit code 1.

Detected infrastructure changes

Using camera-detection-node-test as the source branch