9422378612
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Ran 07 Jun 2024 08:03PM UTC

Jobs 2

Files 54

Run time 1min

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Committed 07 Jun 2024 07:51PM UTC coverage: 53.001% (+0.4%) from 52.599%

Build # 9422378612

Build Type

push

github

Committed by

web-flow

Commit Message

[SW-1091] Make a standalone image publisher launchfile (#396)

## Change Overview

We used to have a standalone image publisher launchfile for the python image publishers, this adds an equivalent for C++:
```
ros2 launch spot_driver spot_image_publishers.launch.py
```
This new image publisher launchfile gets called from within the main driver launchfile so that the main driver interface stays the same. Additionally, there is a new launch argument in the driver that allows you to completely turn off image publishing (`launch_image_publishers:=False`).

This also adds a file `spot_launch_helpers` with some common pure python functions that are shared between the two launchfiles (right now, just to query if Spot has an arm or not). 

## Testing Done
- [x] can get images by running the standalone image publisher launchfile 
- [x] thorough stress testing that all the different arguments get passed through and parsed correctly, and that I can still get the following from the main driver launchfile: 
    * rgb images
    * depth images
    * depth registered images
    * point clouds
    * stitched images
    * compressed images

Run Details

1916 of 3615 relevant lines covered (53.0%)

13.77 hits per line

Jobs

ID	Job ID	Ran	Files	Coverage
1	unittests-cpp - 9422378612.1	07 Jun 2024 08:03PM UTC	0	70.44	GitHub Action Run
2	unittests-python - 9422378612.2	07 Jun 2024 08:03PM UTC	0	42.6	GitHub Action Run

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