feat(pointcloud_preprocessor): add unit test for distortion corrector…

… node (autowarefoundation#7801) feat: add unit test for distoriton corrector node Signed-off-by: vividf <[email protected]>
tby-udel · Jul 14, 2024 · 3bad3e6 · 3bad3e6
1 parent e7ec195
commit 3bad3e6
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Showing 4 changed files with 606 additions and 489 deletions.
diff --git a/sensing/pointcloud_preprocessor/CMakeLists.txt b/sensing/pointcloud_preprocessor/CMakeLists.txt
@@ -231,14 +231,12 @@ if(BUILD_TESTING)
   ament_add_gtest(test_utilities
     test/test_utilities.cpp
   )
+  ament_add_gtest(distortion_corrector_node_tests
+  test/test_distortion_corrector_node.cpp
+  )
+
   target_link_libraries(test_utilities pointcloud_preprocessor_filter)
+  target_link_libraries(distortion_corrector_node_tests pointcloud_preprocessor_filter)
+
 
-  add_ros_test(
-    test/test_distortion_corrector.py
-    TIMEOUT "30"
-  )
-  add_ros_test(
-    test/test_distortion_corrector_use_imu_false.py
-    TIMEOUT "30"
-  )
 endif()
diff --git a/sensing/pointcloud_preprocessor/test/test_distortion_corrector.py b/sensing/pointcloud_preprocessor/test/test_distortion_corrector.py