feat(camera): add configurable Jetson camera module for LMS visualization

tests/test_camera.py

@@ -0,0 +1,52 @@
+import time
+import unittest
+from unittest.mock import patch
+
+import cv2
+import numpy as np
+import rclpy
+from rclpy.qos import qos_profile_sensor_data
+from sensor_msgs.msg import CompressedImage
+from camera_test_pkg import gstreamer_camera as camera
+
+
+class CameraTest(unittest.TestCase):
+    def test_pipeline_formats_and_validation(self):
+        camera.Gst.init(None)
+        for fmt in ['auto', 'UYVY', 'YUY2', 'MJPEG']:
+            pipeline = camera.Gst.parse_launch(camera.capture_pipeline('/dev/video0', 640, 480, 30, fmt))
+            pipeline.set_state(camera.Gst.State.NULL)
+        for args in [('/tmp/other', 640, 480, 30, 'auto'),
+                     ('/dev/video0', 0, 480, 30, 'auto'),
+                     ('/dev/video0', 640, 480, 30, 'bad')]:
+            with self.assertRaises(ValueError):
+                camera.capture_pipeline(*args)
+
+    def test_synthetic_frame_to_ros_jpeg(self):
+        # Odd width exercises RGB row padding without accessing physical hardware.
+        pipeline = ('videotestsrc is-live=true ! video/x-raw,format=RGB,width=641,height=480,framerate=30/1 ! '
+                    'appsink name=camera_sink max-buffers=1 drop=true sync=false')
+        rclpy.init()
+        node = None
+        try:
+            with patch.object(camera, 'capture_pipeline', return_value=pipeline):
+                node = camera.GstreamerCameraTest()
+            frames = []
+            subscription = node.create_subscription(CompressedImage, '/camera_test/image_jpeg', frames.append,
+                                                     qos_profile_sensor_data)
+            end = time.monotonic() + 8
+            while not frames and time.monotonic() < end:
+                rclpy.spin_once(node, timeout_sec=0.1)
+            self.assertTrue(frames, 'No ROS JPEG received')
+            decoded = cv2.imdecode(np.frombuffer(frames[0].data, dtype=np.uint8), cv2.IMREAD_COLOR)
+            self.assertEqual(decoded.shape[1], 640)
+            self.assertEqual(frames[0].format, 'jpeg')
+            node.destroy_subscription(subscription)
+        finally:
+            if node:
+                node.destroy_node()
+            rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    unittest.main()