DuongTD/laser_geometry
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Fix building on running on Windows Debug. (#82)

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* Fix building on running on Windows Debug.

In particular, we need to set the python executable properly
when running on Windows Debug.  While we are in here, we also
fix up some dependencies in the package.xml and CMakeLists.txt.
We also have to remove WERROR ON, due to some Python
warnings that are outside of our control.  Finally, we heavily
reduce the number of tests being run here so that the tests
complete in a reasonable amount of time, even on (slow) Windows
debug.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
This commit is contained in:
Chris Lalancette
2021-09-09 14:59:07 -04:00
committed by GitHub
parent af5bdc2874
commit bfe1c494fd
5 changed files with 28 additions and 41 deletions
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33
test/projection_test.py
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@@ -44,10 +44,10 @@ def test_project_laser():
tolerance = 6 # decimal places
projector = LaserProjection()
ranges = [-1.0, 1.0, 2.0, 3.0, 4.0, 5.0, 100.0]
intensities = np.arange(1.0, 6.0).tolist()
ranges = [-1.0, 1.0, 5.0, 100.0]
intensities = np.arange(1.0, 4.0).tolist()
min_angles = -np.pi / np.array([1.0, 1.5, 2.0, 4.0, 8.0])
min_angles = -np.pi / np.array([1.0, 1.5, 8.0])
max_angles = -min_angles
angle_increments = np.pi / np.array([180., 360., 720.])
@@ -65,32 +65,6 @@ def test_project_laser():
except BuildScanException:
assert (angle_max - angle_min)/angle_increment <= 0
cloud_out = projector.projectLaser(scan, -1.0,
LaserProjection.ChannelOption.INDEX)
assert len(cloud_out.fields) == 4, \
"PointCloud2 with channel INDEX: fields size != 4"
cloud_out = projector.projectLaser(scan, -1.0,
LaserProjection.ChannelOption.INTENSITY)
assert len(cloud_out.fields) == 4, \
"PointCloud2 with channel INDEX: fields size != 4"
cloud_out = projector.projectLaser(scan, -1.0)
assert len(cloud_out.fields) == 5, \
"PointCloud2 with channel INDEX: fields size != 5"
cloud_out = projector.projectLaser(scan, -1.0,
LaserProjection.ChannelOption.INTENSITY |
LaserProjection.ChannelOption.INDEX)
assert len(cloud_out.fields) == 5, \
"PointCloud2 with channel INDEX: fields size != 5"
cloud_out = projector.projectLaser(scan, -1.0,
LaserProjection.ChannelOption.INTENSITY |
LaserProjection.ChannelOption.INDEX |
LaserProjection.ChannelOption.DISTANCE)
assert len(cloud_out.fields) == 6, \
"PointCloud2 with channel INDEX: fields size != 6"
cloud_out = projector.projectLaser(scan, -1.0,
LaserProjection.ChannelOption.INTENSITY |
LaserProjection.ChannelOption.INDEX |
@@ -153,4 +127,3 @@ def test_project_laser():
if __name__ == '__main__':
pytest.main()