edgefirst-schemas 2.1.0

Message schemas for EdgeFirst Perception - ROS2 Common Interfaces, Foxglove, and custom types
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326

"""Tests for geometry_msgs module."""

import pytest

from edgefirst.schemas import geometry_msgs


class TestVector3:
    """Tests for Vector3 message."""

    def test_vector3_creation_defaults(self):
        """Test creating a Vector3 with default values."""
        vec = geometry_msgs.Vector3()
        assert vec.x == 0.0
        assert vec.y == 0.0
        assert vec.z == 0.0

    def test_vector3_with_values(self):
        """Test creating a Vector3 with specific values."""
        vec = geometry_msgs.Vector3(x=1.0, y=2.0, z=3.0)
        assert vec.x == pytest.approx(1.0)
        assert vec.y == pytest.approx(2.0)
        assert vec.z == pytest.approx(3.0)

    def test_vector3_serialize_deserialize(self, sample_vector3):
        """Test CDR serialization roundtrip."""
        data = sample_vector3.serialize()
        assert isinstance(data, bytes)

        restored = geometry_msgs.Vector3.deserialize(data)
        assert restored.x == pytest.approx(sample_vector3.x)
        assert restored.y == pytest.approx(sample_vector3.y)
        assert restored.z == pytest.approx(sample_vector3.z)

    def test_vector3_negative_values(self):
        """Test Vector3 with negative values."""
        vec = geometry_msgs.Vector3(x=-1.5, y=-2.5, z=-3.5)
        data = vec.serialize()
        restored = geometry_msgs.Vector3.deserialize(data)
        assert restored.x == pytest.approx(-1.5)
        assert restored.y == pytest.approx(-2.5)
        assert restored.z == pytest.approx(-3.5)


class TestPoint:
    """Tests for Point message."""

    def test_point_creation_defaults(self):
        """Test creating a Point with default values."""
        point = geometry_msgs.Point()
        assert point.x == 0.0
        assert point.y == 0.0
        assert point.z == 0.0

    def test_point_serialize_deserialize(self, sample_point):
        """Test CDR serialization roundtrip."""
        data = sample_point.serialize()
        restored = geometry_msgs.Point.deserialize(data)
        assert restored.x == pytest.approx(sample_point.x)
        assert restored.y == pytest.approx(sample_point.y)
        assert restored.z == pytest.approx(sample_point.z)


class TestQuaternion:
    """Tests for Quaternion message."""

    def test_quaternion_creation_defaults(self):
        """Test creating a Quaternion with default values (identity)."""
        quat = geometry_msgs.Quaternion()
        assert quat.x == 0.0
        assert quat.y == 0.0
        assert quat.z == 0.0
        assert quat.w == 1.0  # Default is identity quaternion

    def test_quaternion_identity(self, sample_quaternion):
        """Test identity quaternion."""
        assert sample_quaternion.x == 0.0
        assert sample_quaternion.y == 0.0
        assert sample_quaternion.z == 0.0
        assert sample_quaternion.w == 1.0

    def test_quaternion_serialize_deserialize(self, sample_quaternion):
        """Test CDR serialization roundtrip."""
        data = sample_quaternion.serialize()
        restored = geometry_msgs.Quaternion.deserialize(data)
        assert restored.x == pytest.approx(sample_quaternion.x)
        assert restored.y == pytest.approx(sample_quaternion.y)
        assert restored.z == pytest.approx(sample_quaternion.z)
        assert restored.w == pytest.approx(sample_quaternion.w)

    def test_quaternion_rotation(self):
        """Test quaternion with rotation values."""
        # 90 degree rotation around Z axis
        quat = geometry_msgs.Quaternion(x=0.0, y=0.0, z=0.7071068, w=0.7071068)
        data = quat.serialize()
        restored = geometry_msgs.Quaternion.deserialize(data)
        assert restored.z == pytest.approx(0.7071068, rel=1e-6)
        assert restored.w == pytest.approx(0.7071068, rel=1e-6)


class TestPose:
    """Tests for Pose message."""

    def test_pose_creation_defaults(self):
        """Test creating a Pose with default values."""
        pose = geometry_msgs.Pose()
        assert pose.position is not None
        assert pose.orientation is not None

    def test_pose_serialize_deserialize(self, sample_pose):
        """Test CDR serialization roundtrip."""
        data = sample_pose.serialize()
        restored = geometry_msgs.Pose.deserialize(data)
        assert restored.position.x == pytest.approx(sample_pose.position.x)
        assert restored.position.y == pytest.approx(sample_pose.position.y)
        assert restored.position.z == pytest.approx(sample_pose.position.z)
        assert restored.orientation.w == pytest.approx(
            sample_pose.orientation.w
        )


class TestPoseStamped:
    """Tests for PoseStamped message."""

    def test_pose_stamped_serialize_deserialize(
        self, sample_header, sample_pose
    ):
        """Test CDR serialization roundtrip."""
        msg = geometry_msgs.PoseStamped(header=sample_header, pose=sample_pose)
        data = msg.serialize()
        restored = geometry_msgs.PoseStamped.deserialize(data)
        assert restored.header.frame_id == sample_header.frame_id
        assert restored.pose.position.x == pytest.approx(
            sample_pose.position.x
        )


class TestPose2D:
    """Tests for Pose2D message."""

    def test_pose2d_creation(self):
        """Test creating a Pose2D."""
        pose = geometry_msgs.Pose2D(x=1.0, y=2.0, theta=1.57)
        assert pose.x == pytest.approx(1.0)
        assert pose.y == pytest.approx(2.0)
        assert pose.theta == pytest.approx(1.57)

    def test_pose2d_serialize_deserialize(self):
        """Test CDR serialization roundtrip."""
        pose = geometry_msgs.Pose2D(x=5.0, y=10.0, theta=3.14159)
        data = pose.serialize()
        restored = geometry_msgs.Pose2D.deserialize(data)
        assert restored.x == pytest.approx(5.0)
        assert restored.y == pytest.approx(10.0)
        assert restored.theta == pytest.approx(3.14159)


class TestTransform:
    """Tests for Transform message."""

    def test_transform_creation_defaults(self):
        """Test creating a Transform with default values."""
        transform = geometry_msgs.Transform()
        assert transform.translation is not None
        assert transform.rotation is not None

    def test_transform_serialize_deserialize(self, sample_transform):
        """Test CDR serialization roundtrip."""
        data = sample_transform.serialize()
        restored = geometry_msgs.Transform.deserialize(data)
        assert restored.translation.x == pytest.approx(
            sample_transform.translation.x
        )
        assert restored.rotation.w == pytest.approx(
            sample_transform.rotation.w
        )


class TestTransformStamped:
    """Tests for TransformStamped message."""

    def test_transform_stamped_serialize_deserialize(
        self, sample_header, sample_transform
    ):
        """Test CDR serialization roundtrip."""
        msg = geometry_msgs.TransformStamped(
            header=sample_header,
            child_frame_id="child_frame",
            transform=sample_transform,
        )
        data = msg.serialize()
        restored = geometry_msgs.TransformStamped.deserialize(data)
        assert restored.header.frame_id == sample_header.frame_id
        assert restored.child_frame_id == "child_frame"


class TestTwist:
    """Tests for Twist message."""

    def test_twist_creation_defaults(self):
        """Test creating a Twist with default values."""
        twist = geometry_msgs.Twist()
        assert twist.linear is not None
        assert twist.angular is not None

    def test_twist_serialize_deserialize(self, sample_twist):
        """Test CDR serialization roundtrip."""
        data = sample_twist.serialize()
        restored = geometry_msgs.Twist.deserialize(data)
        assert restored.linear.x == pytest.approx(sample_twist.linear.x)
        assert restored.angular.z == pytest.approx(sample_twist.angular.z)


class TestTwistStamped:
    """Tests for TwistStamped message."""

    def test_twist_stamped_serialize_deserialize(
        self, sample_header, sample_twist
    ):
        """Test CDR serialization roundtrip."""
        msg = geometry_msgs.TwistStamped(
            header=sample_header, twist=sample_twist
        )
        data = msg.serialize()
        restored = geometry_msgs.TwistStamped.deserialize(data)
        assert restored.header.frame_id == sample_header.frame_id
        assert restored.twist.linear.x == pytest.approx(sample_twist.linear.x)


class TestAccel:
    """Tests for Accel message."""

    def test_accel_creation_defaults(self):
        """Test creating an Accel with default values."""
        accel = geometry_msgs.Accel()
        assert accel.linear is not None
        assert accel.angular is not None

    def test_accel_serialize_deserialize(self, sample_vector3):
        """Test CDR serialization roundtrip."""
        accel = geometry_msgs.Accel(
            linear=sample_vector3,
            angular=geometry_msgs.Vector3(x=0.1, y=0.2, z=0.3),
        )
        data = accel.serialize()
        restored = geometry_msgs.Accel.deserialize(data)
        assert restored.linear.x == pytest.approx(sample_vector3.x)


class TestWrench:
    """Tests for Wrench message."""

    def test_wrench_creation_defaults(self):
        """Test creating a Wrench with default values."""
        wrench = geometry_msgs.Wrench()
        assert wrench.force is not None
        assert wrench.torque is not None

    def test_wrench_serialize_deserialize(self, sample_vector3):
        """Test CDR serialization roundtrip."""
        wrench = geometry_msgs.Wrench(
            force=sample_vector3,
            torque=geometry_msgs.Vector3(x=0.1, y=0.2, z=0.3),
        )
        data = wrench.serialize()
        restored = geometry_msgs.Wrench.deserialize(data)
        assert restored.force.x == pytest.approx(sample_vector3.x)


class TestInertia:
    """Tests for Inertia message."""

    def test_inertia_creation_defaults(self):
        """Test creating an Inertia with default values."""
        inertia = geometry_msgs.Inertia()
        assert inertia.m == 0.0
        assert inertia.com is not None

    def test_inertia_serialize_deserialize(self):
        """Test CDR serialization roundtrip."""
        inertia = geometry_msgs.Inertia(
            m=10.0,
            com=geometry_msgs.Vector3(x=0.0, y=0.0, z=0.5),
            ixx=1.0,
            ixy=0.0,
            ixz=0.0,
            iyy=1.0,
            iyz=0.0,
            izz=1.0,
        )
        data = inertia.serialize()
        restored = geometry_msgs.Inertia.deserialize(data)
        assert restored.m == pytest.approx(10.0)
        assert restored.ixx == pytest.approx(1.0)


class TestPoseWithCovariance:
    """Tests for PoseWithCovariance message."""

    def test_pose_with_covariance_serialize_deserialize(self, sample_pose):
        """Test CDR serialization roundtrip."""
        msg = geometry_msgs.PoseWithCovariance(
            pose=sample_pose, covariance=[0.1 * i for i in range(36)]
        )
        data = msg.serialize()
        restored = geometry_msgs.PoseWithCovariance.deserialize(data)
        assert restored.pose.position.x == pytest.approx(
            sample_pose.position.x
        )
        assert len(restored.covariance) == 36
        assert restored.covariance[0] == pytest.approx(0.0)
        assert restored.covariance[1] == pytest.approx(0.1)


class TestTwistWithCovariance:
    """Tests for TwistWithCovariance message."""

    def test_twist_with_covariance_serialize_deserialize(self, sample_twist):
        """Test CDR serialization roundtrip."""
        msg = geometry_msgs.TwistWithCovariance(
            twist=sample_twist, covariance=[0.0] * 36
        )
        data = msg.serialize()
        restored = geometry_msgs.TwistWithCovariance.deserialize(data)
        assert restored.twist.linear.x == pytest.approx(sample_twist.linear.x)
        assert len(restored.covariance) == 36