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ajtudelaajtudela
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Added testing
Signed-off-by: Alberto Tudela <[email protected]>
1 parent 98dc324 commit d90042e

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‎.github/workflows/build.yml

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# Simple set of rules for GitHub actions integration with a ROS project
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#
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name: Build
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on:
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push:
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branches:
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- dev
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pull_request:
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jobs:
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build:
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runs-on: ubuntu-22.04
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steps:
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- name: Checkout Repository
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uses: actions/checkout@v2
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- name: Setup ROS 2
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uses: ros-tooling/[email protected]
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with:
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required-ros-distributions: humble
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- name: Install slg_msgs dependencies
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run: |
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cd ${{steps.action_ros_ci_step.outputs.ros-workspace-directory-name}}
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git clone https://github.com/ajtudela/slg_msgs.git
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- name: Install dependencies
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uses: ros-tooling/[email protected]
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with:
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package-name: laser_segmentation
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target-ros2-distro: humble
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colcon-defaults: |
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{
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"build": {
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"mixin": ["coverage-gcc", "coverage-pytest"]
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},
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"test": {
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"mixin": ["coverage-pytest"]
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}
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}
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skip-tests: false
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- name: Upload coverage reports to Codecov
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uses: codecov/[email protected]
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with:
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token: ${{ secrets.CODECOV_TOKEN }}
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files: ros_ws/lcov/total_coverage.info,ros_ws/coveragepy/.coverage
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flags: unittests
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name: codecov-umbrella

‎CHANGELOG.rst

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Changelog for package laser_segmentation
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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3.0.0 (XX-03-2024)
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3.0.0 (08-03-2024)
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------------------
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* Improve formatting.
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* Improve documentation of source.
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* Move parameters to new class: parameterHandler.
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* Rename show_visualization to create_segment_viz_points.
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* Fix jump distance merge.
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* Add unit testing.
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2.1.2 (23-06-2023)
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------------------

‎codecov.yml

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fixes:
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- "src/laser_segmentation/::"
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- "install/::"
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ignore:
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- "*/**/test/*" # ignore package test directories
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- "*/test/**/*" # ignore package test directories
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- "**/test_*.*" # ignore files starting with test_
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- "**/main*.*" # ignore files starting with main
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- "**/*_tests.*" # ignore files ending with _tests
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- "*/**/benchmark/*" # ignore package test directories
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- "*/benchmark/**/*" # ignore package test directories
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- "**/benchmark_*.*" # ignore files starting with test_
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- "**/*_benchmark.*" # ignore files ending with _tests

‎package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>laser_segmentation</name>
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<version>2.1.2</version>
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<version>3.0.0</version>
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<description>Implementation of algorithms for segmentation of laserscans.</description>
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<maintainer email="[email protected]">Alberto J. Tudela Roldán</maintainer>
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<maintainer email="[email protected]">Manuel Fernandez-Carmona</maintainer>

‎test/CMakeLists.txt

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# Test for segmentations algorithm
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ament_add_gtest(test_segmentations
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test_segmentations.cpp
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)
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ament_target_dependencies(test_segmentations
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${dependencies}
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)
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target_link_libraries(test_segmentations
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${library_name}
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)
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# Test for laser_segmentation
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ament_add_gtest(test_laser_segmentation
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test_laser_segmentation.cpp
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)
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ament_target_dependencies(test_laser_segmentation
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${dependencies}
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)
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target_link_libraries(test_laser_segmentation
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${library_name}
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)
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# Test for laser_segmentation integration
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ament_add_gtest(test_integration
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test_integration.cpp
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)
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ament_target_dependencies(test_integration
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${dependencies}
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)
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target_link_libraries(test_integration
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${library_name}
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)

‎test/test_integration.cpp

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// Copyright (c) 2017 Alberto J. Tudela Roldán
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "gtest/gtest.h"
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#include "rclcpp/rclcpp.hpp"
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#include "laser_segmentation/laser_segmentation.hpp"
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TEST(LaserSegmentationTest, integration) {
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rclcpp::init(0, nullptr);
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// Create the scan publisher node
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auto pub_node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("scan_publisher");
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pub_node->configure();
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// Create a publisher for the scan
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auto scan_pub = pub_node->create_publisher<sensor_msgs::msg::LaserScan>("scan", 1);
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ASSERT_EQ(scan_pub->get_subscription_count(), 0);
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EXPECT_FALSE(scan_pub->is_activated());
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// Activate the publisher
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pub_node->activate();
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EXPECT_TRUE(scan_pub->is_activated());
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scan_pub->on_activate();
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auto pub_thread = std::thread([&]() {rclcpp::spin(pub_node->get_node_base_interface());});
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// Create and configure the laser_segmentation node
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auto seg_node = std::make_shared<laserSegmentation>();
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// Set some parameters
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nav2_util::declare_parameter_if_not_declared(
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seg_node, "min_points_segment", rclcpp::ParameterValue(1));
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nav2_util::declare_parameter_if_not_declared(
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seg_node, "max_points_segment", rclcpp::ParameterValue(3));
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seg_node->configure();
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seg_node->activate();
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// Create a scan message with three points
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sensor_msgs::msg::LaserScan scan;
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scan.header.frame_id = "laser_frame";
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scan.angle_min = -M_PI / 2;
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scan.angle_max = M_PI / 2;
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scan.angle_increment = M_PI / 180;
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scan.time_increment = 0.1;
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scan.scan_time = 0.1;
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scan.range_min = 0.0;
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scan.range_max = 10.0;
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scan.ranges.push_back(1.0);
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scan.ranges.push_back(1.1);
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scan.ranges.push_back(2.0);
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scan.ranges.push_back(2.1);
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scan.ranges.push_back(3.0);
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scan.ranges.push_back(3.2);
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scan.ranges.push_back(12.0);
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// Publish the message
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scan_pub->publish(scan);
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// Create the segments subscriber node
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auto sub_node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("segment_subscriber");
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sub_node->configure();
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sub_node->activate();
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// Create a subscriber for the segments
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auto seg_sub = sub_node->create_subscription<slg_msgs::msg::SegmentArray>(
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"segments", 1,
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[&](const slg_msgs::msg::SegmentArray msg) {
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EXPECT_EQ(msg.segments.size(), 1);
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RCLCPP_INFO(sub_node->get_logger(), "Segment received: %ld", msg.segments.size());
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});
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auto sub_thread = std::thread([&]() {rclcpp::spin(sub_node->get_node_base_interface());});
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// Spin the laser_segmentation node
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rclcpp::spin_some(seg_node->get_node_base_interface());
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// Check the results: now, the scan should have a subscription
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// and the segment should have a publisher
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EXPECT_EQ(scan_pub->get_subscription_count(), 1);
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EXPECT_EQ(seg_sub->get_publisher_count(), 1);
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// Deactivate the nodes
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seg_node->deactivate();
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pub_node->deactivate();
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sub_node->deactivate();
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rclcpp::shutdown();
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// Have to join thread after rclcpp is shut down otherwise test hangs.
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sub_thread.join();
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pub_thread.join();
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}

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