bdaiinstitute / spot_ros2 / 9779854604

52%

Build Type

push

github

Committed by web-flow

Commit Message

[SW-1142] Add cameras_used parameter (#423)

## Change Overview

Allows the user to specify the cameras they want to stream from in their config file. This can help alleviate some bandwidth problems from streaming from all cameras all the time. 

For example, to only stream from the frontleft, frontright, and hand cameras, you can add the following to the config yaml:
```
cameras_used: ["frontleft", "frontright", "hand"]
```

## Testing Done

- [x] when updating `cameras_used` in the config file, only those camera streams get published.
- [x] default launch with no specification of `cameras_used` still publishes all camera streams
- [x] stress testing with badly formed config yamls / no config file
    - [x] driver launches with all cameras if no config file is used
    - [x] if there are nonexistent cameras in the parameter `cameras_used` this logs a warning and defaults to all cameras used. This includes if the user specifies the hand camera when the robot doesn't have an arm
    - [x] image stitcher won't launch unless frontleft and frontright are also enabled (in addition to the launch argument `stitch_front_images` being set to true)
- [x] Test that things still work as expected on Spots without arms
- [x] update unit tests

Run Details

23 of 32 new or added lines in 3 files covered. (71.88%)

16 existing lines in 2 files now uncovered.

1905 of 3603 relevant lines covered (52.87%)

15.01 hits per line