Port unit tests to ROS 2 + Fix CBOR conversion and PNG compression

RobotWebTools / rosbridge_suite

Server Implementations of the rosbridge v2 Protocol

https://robotwebtools.github.io

BSD 3-Clause "New" or "Revised" License

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Port unit tests to ROS 2 + Fix CBOR conversion and PNG compression #882

Closed sea-bass closed 11 months ago

sea-bass commented 11 months ago

This PR seeks to bring all rosbridge_library unit tests up to date with ROS 2 so that CI is actually testing most of the functionality.

There is one test that raises an exception when unadvertising a service, and I think it's this issue: https://github.com/ros2/rclpy/issues/1098 -- so just left a TODO for now.

Closes https://github.com/RobotWebTools/rosbridge_suite/issues/856

sea-bass commented 11 months ago

@achim-k This is ready for review. I've run the unit tests numerous times to try see if anything is flaky, and seems to be in good shape.