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charlesmadjericharlesmadjeri
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feat(camera): add external camera streaming with tests and ci-cd
Signed-off-by: charlesmadjeri <studies@madjeri.com>
1 parent 5831828 commit 34147ae

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‎.github/workflows/ci.yml‎

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name: CI
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on:
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push:
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branches: [ main, dev ]
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pull_request:
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branches: [ main, dev ]
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jobs:
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lint:
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name: Lint
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runs-on: ubuntu-latest
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container:
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image: osrf/ros:humble-desktop
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steps:
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- uses: actions/checkout@v4
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- name: Install dependencies
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run: |
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apt-get update && apt-get install -y \
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python3-pip \
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python3-pytest \
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python3-pytest-mock \
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python3-opencv \
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gstreamer1.0-tools \
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gstreamer1.0-plugins-base \
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gstreamer1.0-plugins-good \
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gstreamer1.0-plugins-bad \
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gstreamer1.0-plugins-ugly \
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v4l-utils \
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build-essential \
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cmake \
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git \
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&& rm -rf /var/lib/apt/lists/*
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- name: Setup workspace structure
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run: |
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mkdir -p ws/src
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cp -r camera_ros lucy_bringup ws/src/
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- name: Build workspace
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working-directory: /__w/lucy_ros_packages/lucy_ros_packages/ws
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shell: bash
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run: |
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source /opt/ros/humble/setup.bash
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colcon build --packages-select camera_ros lucy_bringup --cmake-args -DBUILD_TESTING=ON
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- name: Run linters
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working-directory: /__w/lucy_ros_packages/lucy_ros_packages/ws
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shell: bash
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run: |
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source /opt/ros/humble/setup.bash
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source install/setup.bash
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colcon test --packages-select camera_ros lucy_bringup --event-handlers console_direct+ || true
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- name: Check lint results
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working-directory: /__w/lucy_ros_packages/lucy_ros_packages/ws
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shell: bash
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run: |
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source /opt/ros/humble/setup.bash
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source install/setup.bash
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colcon test-result --verbose || true
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test:
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name: Unit Tests
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runs-on: ubuntu-latest
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container:
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image: osrf/ros:humble-desktop
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steps:
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- uses: actions/checkout@v4
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- name: Install dependencies
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run: |
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apt-get update && apt-get install -y \
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python3-pip \
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python3-pytest \
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python3-pytest-mock \
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python3-pytest-cov \
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python3-opencv \
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gstreamer1.0-tools \
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gstreamer1.0-plugins-base \
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gstreamer1.0-plugins-good \
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gstreamer1.0-plugins-bad \
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gstreamer1.0-plugins-ugly \
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v4l-utils \
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build-essential \
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cmake \
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git \
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&& rm -rf /var/lib/apt/lists/*
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- name: Install Python test dependencies
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run: |
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pip3 install --no-cache-dir pytest pytest-mock pytest-cov
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- name: Setup workspace structure
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run: |
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mkdir -p ws/src
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cp -r camera_ros lucy_bringup ws/src/
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- name: Build workspace with tests
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working-directory: /__w/lucy_ros_packages/lucy_ros_packages/ws
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shell: bash
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run: |
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source /opt/ros/humble/setup.bash
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colcon build --packages-select camera_ros lucy_bringup --cmake-args -DBUILD_TESTING=ON
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- name: Run unit tests
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working-directory: /__w/lucy_ros_packages/lucy_ros_packages/ws
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shell: bash
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run: |
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source /opt/ros/humble/setup.bash
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source install/setup.bash
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colcon test --packages-select camera_ros lucy_bringup --event-handlers console_direct+
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- name: Check test results
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working-directory: /__w/lucy_ros_packages/lucy_ros_packages/ws
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shell: bash
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run: |
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source /opt/ros/humble/setup.bash
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source install/setup.bash
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colcon test-result --verbose
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# Fail if any tests failed
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if colcon test-result --verbose | grep -q "failed"; then
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echo "Some tests failed!"
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exit 1
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fi
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- name: Generate coverage report
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working-directory: /__w/lucy_ros_packages/lucy_ros_packages/ws
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shell: bash
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run: |
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source /opt/ros/humble/setup.bash
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source install/setup.bash
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cd build/camera_ros
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python3 -m pytest ../../src/camera_ros/test/ \
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--cov=../../src/camera_ros/scripts \
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--cov-report=xml:coverage.xml \
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--cov-report=html:htmlcov \
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--cov-report=term-missing \
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--cov-branch || true
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- name: Upload coverage to Codecov
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uses: codecov/codecov-action@v3
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with:
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file: ${{ github.workspace }}/ws/build/camera_ros/coverage.xml
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flags: unittests
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name: codecov-umbrella
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fail_ci_if_error: false
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- name: Upload coverage HTML report
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uses: actions/upload-artifact@v4
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if: always()
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with:
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name: coverage-report
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path: ${{ github.workspace }}/ws/build/camera_ros/htmlcov/
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retention-days: 30

‎.gitignore‎

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# Python
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__pycache__/
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*.py[cod]
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*$py.class
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*.so
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.Python
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*.egg-info/
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dist/
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build/
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.eggs/
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# Virtual environments
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.venv
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venv/
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ENV/
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env/
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# Coverage reports
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htmlcov/
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.coverage
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.coverage.*
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coverage.xml
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*.cover
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.hypothesis/
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# Test artifacts
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.pytest_cache/
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test_results/
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*.xunit.xml
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.tox/
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.nox/
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# ROS2 build artifacts
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install/
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log/
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build/
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# IDE
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.vscode/
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.idea/
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*.swp
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*.swo
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*~
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.DS_Store
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# OS
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Thumbs.db
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.DS_Store
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# ROS2 specific
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.ros/
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# Temporary files
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*.tmp
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*.log
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*.bak
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*.orig

‎camera_ros/CMakeLists.txt‎

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@@ -25,6 +25,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
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# Install Python scripts
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install(PROGRAMS
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scripts/camera_publisher.py
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scripts/camera_stream_controller.py
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DESTINATION lib/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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find_package(ament_cmake_pytest REQUIRED)
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ament_lint_auto_find_test_dependencies()
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# Install test files
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install(DIRECTORY test
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DESTINATION share/${PROJECT_NAME}
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)
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# Install pytest.ini for coverage configuration
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install(FILES
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pytest.ini
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DESTINATION share/${PROJECT_NAME}
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)
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# Install coverage generation script
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install(PROGRAMS
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scripts/generate_coverage.sh
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DESTINATION lib/${PROJECT_NAME}
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)
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# Add pytest tests with coverage
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ament_add_pytest_test(test_camera_publisher test/test_camera_publisher.py
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TIMEOUT 60
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PYTHON_EXECUTABLE "${PYTHON3_EXECUTABLE}"
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APPEND_ENV PYTHONPATH="${CMAKE_CURRENT_SOURCE_DIR}/scripts:${CMAKE_CURRENT_SOURCE_DIR}"
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)
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ament_add_pytest_test(test_camera_stream_controller test/test_camera_stream_controller.py
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TIMEOUT 60
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PYTHON_EXECUTABLE "${PYTHON3_EXECUTABLE}"
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APPEND_ENV PYTHONPATH="${CMAKE_CURRENT_SOURCE_DIR}/scripts:${CMAKE_CURRENT_SOURCE_DIR}"
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)
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endif()
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# Export the generated interfaces

‎camera_ros/camera_ros/__init__.py‎

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"""
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Camera ROS Package.
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Zero-copy MJPEG camera publisher optimized for NVIDIA Jetson AGX Orin."""
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Zero-copy MJPEG camera publisher optimized for NVIDIA Jetson AGX Orin.
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"""
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__version__ = "1.0.0"

‎camera_ros/launch/camera.launch.py‎

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"""
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Launch file for zero-copy MJPEG camera publisher.
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This launch file starts the camera node with optimized settings for NVIDIA Jetson AGX Orin."""
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This launch file starts the camera node with optimized settings for
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NVIDIA Jetson AGX Orin.
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"""
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import DeclareLaunchArgument, LogInfo
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from launch.substitutions import LaunchConfiguration
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def generate_launch_description():
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# Launch arguments
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fps_arg = DeclareLaunchArgument(
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'fps',
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default_value='15.0',
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default_value='10.0',
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description='Camera frame rate (1.0-30.0 FPS)'
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)
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description='Camera device path'
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)
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vendor_id_arg = DeclareLaunchArgument(
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'vendor_id',
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default_value='',
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description='USB vendor ID for camera identification (e.g., 0x046d)'
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)
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product_id_arg = DeclareLaunchArgument(
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'product_id',
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default_value='',
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description='USB product ID for camera identification'
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)
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serial_number_arg = DeclareLaunchArgument(
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'serial_number',
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default_value='',
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description='Camera serial number for identification'
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)
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# Camera node
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camera_node = Node(
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package='camera_ros',
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parameters=[{
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'fps': LaunchConfiguration('fps'),
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'device': LaunchConfiguration('device'),
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'vendor_id': LaunchConfiguration('vendor_id'),
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'product_id': LaunchConfiguration('product_id'),
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'serial_number': LaunchConfiguration('serial_number'),
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}],
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)
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# Camera stream controller node
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camera_controller_node = Node(
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package='camera_ros',
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executable='camera_stream_controller.py',
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name='camera_stream_controller',
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output='screen',
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)
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return LaunchDescription([
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fps_arg,
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device_arg,
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LogInfo(msg='Starting zero-copy MJPEG camera publisher with automatic client-based activation'),
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vendor_id_arg,
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product_id_arg,
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serial_number_arg,
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LogInfo(
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msg='Starting zero-copy MJPEG camera publisher with '
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'service-based streaming control'
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),
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camera_node,
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camera_controller_node,
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])

‎camera_ros/package.xml‎

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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<test_depend>ament_cmake_pytest</test_depend>
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<test_depend>python3-pytest</test_depend>
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<test_depend>python3-pytest-mock</test_depend>
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<test_depend>python3-pytest-cov</test_depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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‎camera_ros/pytest.ini‎

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[pytest]
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# Pytest configuration for camera_ros package
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testpaths = test
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python_files = test_*.py
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python_classes = Test*
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python_functions = test_*
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addopts =
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-v
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--strict-markers
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--tb=short
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--cov=scripts
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--cov-report=term-missing
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--cov-report=html:htmlcov
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--cov-report=xml:coverage.xml
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--cov-branch
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--no-cov-on-fail
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