From 4dd493cad66b78e4e82c96a410850dcb80bd6242 Mon Sep 17 00:00:00 2001
From: swittl <simon.wittl@th-deg.de>
Date: Wed, 19 Jun 2024 09:23:33 +0200
Subject: [PATCH] dev
---
.gitignore | 1 +
package.xml | 18 +++++
resource/rq_controller | 0
rq_controller/__init__.py | 0
rq_controller/common/__init__.py | 2 +
rq_controller/common/io/__init__.py | 0
rq_controller/common/io/loader.py | 25 ++++++
rq_controller/common/io/rq_json/__init__.py | 0
rq_controller/common/io/rq_json/load.py | 52 +++++++++++++
rq_controller/common/io/rq_json/write.py | 49 ++++++++++++
rq_controller/common/io/writer.py | 40 ++++++++++
rq_controller/common/projection.py | 86 +++++++++++++++++++++
rq_controller/common/projection_geometry.py | 55 +++++++++++++
rq_controller/common/region_of_intrest.py | 42 ++++++++++
setup.cfg | 4 +
setup.py | 25 ++++++
test/test_copyright.py | 25 ++++++
test/test_flake8.py | 25 ++++++
test/test_pep257.py | 23 ++++++
19 files changed, 472 insertions(+)
create mode 100644 .gitignore
create mode 100644 package.xml
create mode 100644 resource/rq_controller
create mode 100644 rq_controller/__init__.py
create mode 100644 rq_controller/common/__init__.py
create mode 100644 rq_controller/common/io/__init__.py
create mode 100644 rq_controller/common/io/loader.py
create mode 100644 rq_controller/common/io/rq_json/__init__.py
create mode 100644 rq_controller/common/io/rq_json/load.py
create mode 100644 rq_controller/common/io/rq_json/write.py
create mode 100644 rq_controller/common/io/writer.py
create mode 100644 rq_controller/common/projection.py
create mode 100644 rq_controller/common/projection_geometry.py
create mode 100644 rq_controller/common/region_of_intrest.py
create mode 100644 setup.cfg
create mode 100644 setup.py
create mode 100644 test/test_copyright.py
create mode 100644 test/test_flake8.py
create mode 100644 test/test_pep257.py
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..f3d6549
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+/build/
\ No newline at end of file
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..fd22eac
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>rq_controller</name>
+ <version>0.0.0</version>
+ <description>TODO: Package description</description>
+ <maintainer email="simon.wittl@th-deg.de">root</maintainer>
+ <license>TODO: License declaration</license>
+
+ <test_depend>ament_copyright</test_depend>
+ <test_depend>ament_flake8</test_depend>
+ <test_depend>ament_pep257</test_depend>
+ <test_depend>python3-pytest</test_depend>
+
+ <export>
+ <build_type>ament_python</build_type>
+ </export>
+</package>
diff --git a/resource/rq_controller b/resource/rq_controller
new file mode 100644
index 0000000..e69de29
diff --git a/rq_controller/__init__.py b/rq_controller/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/rq_controller/common/__init__.py b/rq_controller/common/__init__.py
new file mode 100644
index 0000000..c737cfd
--- /dev/null
+++ b/rq_controller/common/__init__.py
@@ -0,0 +1,2 @@
+from .projection import PyProjectionGeometry, PyProjection
+from .region_of_intrest import PyRegionOfIntrest
\ No newline at end of file
diff --git a/rq_controller/common/io/__init__.py b/rq_controller/common/io/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/rq_controller/common/io/loader.py b/rq_controller/common/io/loader.py
new file mode 100644
index 0000000..fe8c5b0
--- /dev/null
+++ b/rq_controller/common/io/loader.py
@@ -0,0 +1,25 @@
+import numpy as np
+import json
+from pathlib import Path
+from ...common import PyProjectionGeometry, PyProjection, PyRegionOfIntrest
+
+
+class BaseDataLoader():
+ def __init__(self,
+ porjection_geometry_suffix: str,
+ projection_suffix: str,
+ region_of_intrest_suffix: str):
+
+ self.porjection_geometry_suffix = porjection_geometry_suffix
+ self.projection_suffix = projection_suffix
+ self.region_of_intrest_suffix = region_of_intrest_suffix
+
+ def load_projection_geometry(self, load_path: Path) -> PyProjectionGeometry:
+ raise NotImplementedError
+
+ def load_projection(self, load_path: Path) -> PyProjection:
+ raise NotImplementedError
+
+ def load_region_of_intrest(self, load_path: Path) -> PyRegionOfIntrest:
+ raise NotImplementedError
+
\ No newline at end of file
diff --git a/rq_controller/common/io/rq_json/__init__.py b/rq_controller/common/io/rq_json/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/rq_controller/common/io/rq_json/load.py b/rq_controller/common/io/rq_json/load.py
new file mode 100644
index 0000000..0a22508
--- /dev/null
+++ b/rq_controller/common/io/rq_json/load.py
@@ -0,0 +1,52 @@
+import numpy as np
+import json
+from pathlib import Path
+
+from ..loader import BaseDataLoader, PyProjection, PyProjectionGeometry, PyRegionOfIntrest
+from PIL import Image
+
+
+class RqJsonLoader(BaseDataLoader):
+ def __init__(self):
+ super().__init__('.geom-json', '.tif', '.roi-json')
+
+ def load_json(self, load_path: Path) -> dict:
+ with open(str(load_path), 'r') as f:
+ data_dict = json.load(f)
+ return data_dict
+
+ def load_projection_geometry(self, load_path: Path) -> PyProjectionGeometry:
+ data_dict = self.load_json(load_path)
+
+ projection_geometry = PyProjectionGeometry(
+ focal_spot_mm=np.array([data_dict['focal_spot_mm']]),
+ detector_postion_mm=np.array([data_dict['detector_postion_mm']]),
+ detector_orientation_quad=np.array([data_dict['detector_orientation_quad']]),
+ frame_id=data_dict['frame_id'])
+
+ return projection_geometry
+
+ def load_projection(self, load_path: Path) -> PyProjection:
+ load_path_projection_geometry = load_path.parent / f'{load_path.stem}.{self.porjection_geometry_suffix}'
+ data_dict = self.load_json(load_path_projection_geometry)
+ image = np.asarray(Image.open(load_path))
+
+ projection = PyProjection(
+ focal_spot_mm=np.array([data_dict['focal_spot_mm']]),
+ detector_postion_mm=np.array([data_dict['detector_postion_mm']]),
+ detector_orientation_quad=np.array([data_dict['detector_orientation_quad']]),
+ image=image,
+ detector_heigth_mm=data_dict['detector_heigth_mm'],
+ detector_width_mm=data_dict['detector_width_mm'],
+ frame_id=data_dict['frame_id'])
+
+ return projection
+
+ def load_region_of_intrest(self, load_path: Path) -> PyRegionOfIntrest:
+ data_dict = self.load_json(load_path)
+
+ region_of_intrest = PyRegionOfIntrest(
+ start_point_mm=np.array(data_dict['start_point_mm']),
+ end_point_mm=np.array(data_dict['end_point_mm']))
+
+ return region_of_intrest
diff --git a/rq_controller/common/io/rq_json/write.py b/rq_controller/common/io/rq_json/write.py
new file mode 100644
index 0000000..b019d90
--- /dev/null
+++ b/rq_controller/common/io/rq_json/write.py
@@ -0,0 +1,49 @@
+import numpy as np
+import json
+from pathlib import Path
+
+from ..writer import BaseDataWriter, PyProjection, PyProjectionGeometry, PyRegionOfIntrest
+from PIL import Image
+
+
+class RqJsonWriter(BaseDataWriter):
+ def __init__(self):
+ super().__init__('.geom-json', '.tif', '.roi-json')
+
+ def write_json(self, save_path: Path, data_dict: dict):
+ with open(str(save_path), 'w') as f:
+ json.dump(data_dict, f, indent=2)
+
+ def write_projection_geometry(self, save_path: Path, projection_geometry: PyProjectionGeometry):
+ data_dict = dict()
+ data_dict['focal_spot_mm'] = projection_geometry.focal_spot_mm.tolist()
+ data_dict['detector_postion_mm'] = projection_geometry.detector_postion_mm.tolist()
+ data_dict['detector_orientation_quad'] = projection_geometry.detector_orientation_quad.tolist()
+ data_dict['frame_id'] = projection_geometry.frame_id
+
+ self.write_json(save_path, data_dict)
+
+ def write_projection(self, save_path: Path, projection: PyProjection):
+ save_path_projection_geometry = save_path.parent / f'{save_path.stem}.{self.porjection_geometry_suffix}'
+ data_dict = dict()
+ data_dict['focal_spot_mm'] = projection.focal_spot_mm.tolist()
+ data_dict['detector_postion_mm'] = projection.detector_postion_mm.tolist()
+ data_dict['detector_orientation_quad'] = projection.detector_orientation_quad.tolist()
+ data_dict['pixel_pitch_x_mm'] = projection.pixel_pitch_x_mm
+ data_dict['pixel_pitch_y_mm'] = projection.pixel_pitch_y_mm
+ data_dict['detector_heigth_mm'] = projection.detector_heigth_mm
+ data_dict['detector_width_mm'] = projection.detector_width_mm
+ data_dict['frame_id'] = projection.frame_id
+
+ self.write_json(save_path_projection_geometry, data_dict)
+
+ image = Image.fromarray(projection.image)
+ image.save(save_path)
+
+ def write_region_of_intrest(self, save_path: Path, region_of_intrest: PyRegionOfIntrest):
+ data_dict = dict()
+ data_dict['focal_spot_mm'] = region_of_intrest.start_point_mm.tolist()
+ data_dict['detector_postion_mm'] = region_of_intrest.end_point_mm.tolist()
+ data_dict['frame_id'] = region_of_intrest.frame_id
+
+ self.write_json(save_path, data_dict)
diff --git a/rq_controller/common/io/writer.py b/rq_controller/common/io/writer.py
new file mode 100644
index 0000000..29e4440
--- /dev/null
+++ b/rq_controller/common/io/writer.py
@@ -0,0 +1,40 @@
+import numpy as np
+import json
+from pathlib import Path
+from ...common import PyProjectionGeometry, PyProjection, PyRegionOfIntrest
+
+
+class BaseDataWriter():
+ def __init__(self,
+ porjection_geometry_suffix: str,
+ projection_suffix: str,
+ region_of_intrest_suffix: str):
+
+ self.porjection_geometry_suffix = porjection_geometry_suffix
+ self.projection_suffix = projection_suffix
+ self.region_of_intrest_suffix = region_of_intrest_suffix
+
+ def write_projection_geometry(self, save_path: Path, projection_geometry: PyProjectionGeometry):
+ raise NotImplementedError
+
+ def write_projection(self, save_path: Path, projection: PyProjection):
+ raise NotImplementedError
+
+ def write_region_of_intrest(self, save_path: Path, region_of_intrest: PyRegionOfIntrest):
+ raise NotImplementedError
+
+ def get_projection_geometry_geometry_save_path(self, save_folder: Path, save_name: str) -> Path:
+ raise NotImplementedError
+
+ def get_projection_geometry_save_path(self, save_folder: Path, save_name: str) -> Path:
+ raise NotImplementedError
+
+ def get_region_of_intrest_save_path(self, save_folder: Path, save_name: str) -> Path:
+ raise NotImplementedError
+
+ def number_of_projection_geometries(self, folder: Path) -> int:
+ return len(list(folder.glob(f'*{self.porjection_geometry_suffix}')))
+
+ def number_of_projections(self, folder: Path) -> int:
+ return self.number_of_projection_geometries(folder)
+
diff --git a/rq_controller/common/projection.py b/rq_controller/common/projection.py
new file mode 100644
index 0000000..d196bc7
--- /dev/null
+++ b/rq_controller/common/projection.py
@@ -0,0 +1,86 @@
+import numpy as np
+
+from numpy import ndarray
+from .projection_geometry import PyProjectionGeometry
+
+from rq_interfaces.msg import Projection, ProjectionGeometry
+
+class PyProjection(PyProjectionGeometry):
+ def __init__(self, focal_spot_mm: ndarray, detector_postion_mm: ndarray, detector_orientation_quad: ndarray, image: np.ndarray,
+ detector_heigth_mm: float, detector_width_mm: float, frame_id: str = 'object') -> None:
+ super().__init__(focal_spot_mm, detector_postion_mm, detector_orientation_quad, frame_id)
+ self.image = image
+ self.detector_heigth_mm = detector_heigth_mm
+ self.detector_width_mm = detector_width_mm
+
+ @classmethod
+ def dummy(cls):
+ return cls(np.array([1., 0., 0]),
+ np.array([-1., 0., 0]),
+ np.array([1., 0., 0, 1.]),
+ np.zeros((10, 10)),
+ 10., 10.)
+
+ @classmethod
+ def from_message(cls, msg: Projection):
+ focal_spot_mm = np.array([msg.projection_geometry.focal_spot_postion_mm.x,
+ msg.projection_geometry.focal_spot_postion_mm.y,
+ msg.projection_geometry.focal_spot_postion_mm.z,])
+
+ detector_center_mm = np.array([msg.projection_geometry.detector_postion_mm.x,
+ msg.projection_geometry.detector_postion_mm.y,
+ msg.projection_geometry.detector_postion_mm.z,])
+
+ detector_orientation_quad = np.array([msg.projection_geometry.detector_orientation_quad.x,
+ msg.projection_geometry.detector_orientation_quad.y,
+ msg.projection_geometry.detector_orientation_quad.z,
+ msg.projection_geometry.detector_orientation_quad.w])
+
+ image = msg.image
+ detector_heigth_mm = msg.detector_heigth_mm
+ detector_width_mm = msg.detector_width_mm
+ frame_id = msg.projection_geometry.header.frame_id
+
+ return cls(focal_spot_mm, detector_center_mm, detector_orientation_quad, image, detector_heigth_mm, detector_width_mm, frame_id)
+
+ def as_message(self) -> ProjectionGeometry:
+ message = Projection()
+ projection_geometry = ProjectionGeometry()
+
+ projection_geometry.focal_spot_postion_mm.x = self.focal_spot_mm[0]
+ projection_geometry.focal_spot_postion_mm.y = self.focal_spot_mm[1]
+ projection_geometry.focal_spot_postion_mm.z = self.focal_spot_mm[2]
+
+ projection_geometry.detector_postion_mm.x = self.detector_postion_mm[0]
+ projection_geometry.detector_postion_mm.y = self.detector_postion_mm[1]
+ projection_geometry.detector_postion_mm.z = self.detector_postion_mm[2]
+
+ projection_geometry.detector_orientation_quad.x = self.detector_orientation_quad[0]
+ projection_geometry.detector_orientation_quad.y = self.detector_orientation_quad[1]
+ projection_geometry.detector_orientation_quad.z = self.detector_orientation_quad[2]
+ projection_geometry.detector_orientation_quad.w = self.detector_orientation_quad[3]
+
+ message.projection_geometry = projection_geometry
+ message.image = self.image
+ message.detector_heigth_mm = self.detector_heigth_mm
+ message.detector_width_mm = self.detector_width_mm
+
+ message.projection_geometry.header.frame_id = self.frame_id
+
+ return message
+
+ @property
+ def detector_heigth_px(self) -> int:
+ return self.image.shape[0]
+
+ @property
+ def detector_width_px(self) -> int:
+ return self.image.shape[1]
+
+ @property
+ def pixel_pitch_x_mm(self) -> float:
+ return self.detector_width_mm / self.detector_width_px
+
+ @property
+ def pixel_pitch_y_mm(self) -> float:
+ return self.detector_heigth_mm / self.detector_heigth_px
\ No newline at end of file
diff --git a/rq_controller/common/projection_geometry.py b/rq_controller/common/projection_geometry.py
new file mode 100644
index 0000000..6b4bd73
--- /dev/null
+++ b/rq_controller/common/projection_geometry.py
@@ -0,0 +1,55 @@
+import numpy as np
+
+from rq_interfaces.msg import ProjectionGeometry
+
+class PyProjectionGeometry():
+ def __init__(self, focal_spot_mm: np.ndarray, detector_postion_mm: np.ndarray, detector_orientation_quad: np.ndarray,
+ frame_id: str = 'object') -> None:
+ self.focal_spot_mm = focal_spot_mm
+ self.detector_postion_mm = detector_postion_mm
+ self.detector_orientation_quad = detector_orientation_quad
+ self.frame_id = frame_id
+
+ @classmethod
+ def dummy(cls):
+ return cls(np.array([1., 0., 0]),
+ np.array([-1., 0., 0]),
+ np.array([1., 0., 0, 1.]))
+
+ @classmethod
+ def from_message(cls, msg: ProjectionGeometry):
+ focal_spot_mm = np.array([msg.focal_spot_postion_mm.x,
+ msg.focal_spot_postion_mm.y,
+ msg.focal_spot_postion_mm.z,])
+
+ detector_center_mm = np.array([msg.detector_postion_mm.x,
+ msg.detector_postion_mm.y,
+ msg.detector_postion_mm.z,])
+
+ detector_orientation_quad = np.array([msg.detector_orientation_quad.x,
+ msg.detector_orientation_quad.y,
+ msg.detector_orientation_quad.z,
+ msg.detector_orientation_quad.w])
+ frame_id = msg.header.frame_id
+
+ return cls(focal_spot_mm, detector_center_mm, detector_orientation_quad, frame_id)
+
+ def as_message(self) -> ProjectionGeometry:
+ message = ProjectionGeometry()
+
+ message.focal_spot_postion_mm.x = self.focal_spot_mm[0]
+ message.focal_spot_postion_mm.y = self.focal_spot_mm[1]
+ message.focal_spot_postion_mm.z = self.focal_spot_mm[2]
+
+ message.detector_postion_mm.x = self.detector_postion_mm[0]
+ message.detector_postion_mm.y = self.detector_postion_mm[1]
+ message.detector_postion_mm.z = self.detector_postion_mm[2]
+
+ message.detector_orientation_quad.x = self.detector_orientation_quad[0]
+ message.detector_orientation_quad.y = self.detector_orientation_quad[1]
+ message.detector_orientation_quad.z = self.detector_orientation_quad[2]
+ message.detector_orientation_quad.w = self.detector_orientation_quad[3]
+
+ message.header.frame_id = self.frame_id
+
+ return message
\ No newline at end of file
diff --git a/rq_controller/common/region_of_intrest.py b/rq_controller/common/region_of_intrest.py
new file mode 100644
index 0000000..785bfc7
--- /dev/null
+++ b/rq_controller/common/region_of_intrest.py
@@ -0,0 +1,42 @@
+import numpy as np
+
+from rq_interfaces.msg import RegionOfIntrest
+
+
+class PyRegionOfIntrest():
+ def __init__(self, start_point_mm: np.ndarray, end_point_mm: np.ndarray, frame_id: str = 'object'):
+ self.start_point_mm = start_point_mm
+ self.end_point_mm = end_point_mm
+ self.frame_id = frame_id
+
+ @classmethod
+ def dummy(cls):
+ return cls(np.ones(3,) * -1, np.ones(3,))
+
+ @classmethod
+ def from_message(cls, msg: RegionOfIntrest):
+ start_point = np.array([msg.start_point_mm.x,
+ msg.start_point_mm.y,
+ msg.start_point_mm.z])
+
+ end_point = np.array([msg.end_point_mm.x,
+ msg.end_point_mm.y,
+ msg.end_point_mm.z])
+ frame = msg.header.frame_id
+
+ return cls(start_point, end_point, frame)
+
+ def as_message(self) -> RegionOfIntrest:
+ message = RegionOfIntrest()
+
+ message.start_point_mm.x = self.start_point_mm[0]
+ message.start_point_mm.y = self.start_point_mm[1]
+ message.start_point_mm.z = self.start_point_mm[2]
+
+ message.start_point_mm.x = self.start_point_mm[0]
+ message.start_point_mm.y = self.start_point_mm[1]
+ message.start_point_mm.z = self.start_point_mm[2]
+
+ message.header.frame_id = self.frame_id
+
+ return message
diff --git a/setup.cfg b/setup.cfg
new file mode 100644
index 0000000..ad9343a
--- /dev/null
+++ b/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/rq_controller
+[install]
+install_scripts=$base/lib/rq_controller
diff --git a/setup.py b/setup.py
new file mode 100644
index 0000000..9961d05
--- /dev/null
+++ b/setup.py
@@ -0,0 +1,25 @@
+from setuptools import find_packages, setup
+
+package_name = 'rq_controller'
+
+setup(
+ name=package_name,
+ version='0.0.0',
+ packages=find_packages(exclude=['test']),
+ data_files=[
+ ('share/ament_index/resource_index/packages',
+ ['resource/' + package_name]),
+ ('share/' + package_name, ['package.xml']),
+ ],
+ install_requires=['setuptools'],
+ zip_safe=True,
+ maintainer='root',
+ maintainer_email='simon.wittl@th-deg.de',
+ description='TODO: Package description',
+ license='TODO: License declaration',
+ tests_require=['pytest'],
+ entry_points={
+ 'console_scripts': [
+ ],
+ },
+)
diff --git a/test/test_copyright.py b/test/test_copyright.py
new file mode 100644
index 0000000..97a3919
--- /dev/null
+++ b/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found errors'
diff --git a/test/test_flake8.py b/test/test_flake8.py
new file mode 100644
index 0000000..27ee107
--- /dev/null
+++ b/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+ rc, errors = main_with_errors(argv=[])
+ assert rc == 0, \
+ 'Found %d code style errors / warnings:\n' % len(errors) + \
+ '\n'.join(errors)
diff --git a/test/test_pep257.py b/test/test_pep257.py
new file mode 100644
index 0000000..b234a38
--- /dev/null
+++ b/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found code style errors / warnings'
--
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