From 939086362a99e6a75698c0dad74d398eebc54234 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Wed, 11 Oct 2023 06:40:50 +0300
Subject: [PATCH] Run rectify nodelet in tests

---
 clover/test/basic.test | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/clover/test/basic.test b/clover/test/basic.test
index bd5366f00..a761f00a9 100755
--- a/clover/test/basic.test
+++ b/clover/test/basic.test
@@ -40,6 +40,16 @@
     <node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
         args="messages image_raw 5.0 image_raw_throttled" required="true"/>
 
+    <node pkg="nodelet" type="nodelet" name="main_camera_nodelet_manager" args="manager" output="screen" required="true">
+        <param name="num_worker_threads" value="2"/>
+    </node>
+
+    <node pkg="nodelet" type="nodelet" name="rectify" args="load image_proc/rectify main_camera_nodelet_manager" required="true">
+        <remap from="image_mono" to="main_camera/image_raw"/>
+        <remap from="camera_info" to="main_camera/camera_info"/>
+        <remap from="image_rect" to="main_camera/image_rect"/>
+    </node>
+
     <param name="test_module" value="$(find clover)/test/basic.py"/>
     <test test-name="basic_test" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>