time_reset_test.cpp
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1 /*
2  * Copyright (c) 2014, Open Source Robotics Foundation
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29 
30 #include <gtest/gtest.h>
31 #include <thread>
32 #include <chrono>
35 #include <rosgraph_msgs/Clock.h>
36 
37 using namespace tf2;
38 
40 {
41  ros::spinOnce();
42  for (uint8_t i = 0; i < 10; ++i)
43  {
44  std::this_thread::sleep_for(std::chrono::milliseconds(100));
45  ros::spinOnce();
46  }
47 }
48 
49 TEST(tf2_ros_transform_listener, time_backwards)
50 {
51 
52  tf2_ros::Buffer buffer;
53  tf2_ros::TransformListener tfl(buffer);
55 
57 
58  ros::Publisher clock = nh.advertise<rosgraph_msgs::Clock>("/clock", 5);
59 
60  rosgraph_msgs::Clock c;
61  c.clock = ros::Time(100);
62  clock.publish(c);
63 
64  // basic test
65  ASSERT_FALSE(buffer.canTransform("foo", "bar", ros::Time(101, 0)));
66 
67  // set the transform
68  geometry_msgs::TransformStamped msg;
69  msg.header.stamp = ros::Time(100, 0);
70  msg.header.frame_id = "foo";
71  msg.child_frame_id = "bar";
72  msg.transform.rotation.x = 1.0;
73  tfb.sendTransform(msg);
74  msg.header.stamp = ros::Time(102, 0);
75  tfb.sendTransform(msg);
76 
77 
78  // make sure it arrives
80 
81  // verify it's been set
82  ASSERT_TRUE(buffer.canTransform("foo", "bar", ros::Time(101, 0)));
83 
84  c.clock = ros::Time(90);
85  clock.publish(c);
86 
87  // make sure it arrives
89 
90  //Send another message to trigger clock test on an unrelated frame
91  msg.header.stamp = ros::Time(110, 0);
92  msg.header.frame_id = "foo2";
93  msg.child_frame_id = "bar2";
94  tfb.sendTransform(msg);
95 
96  // make sure it arrives
98 
99  //verify the data's been cleared
100  ASSERT_FALSE(buffer.canTransform("foo", "bar", ros::Time(101, 0)));
101 
102 }
103 
104 
105 
106 
107 int main(int argc, char **argv){
108  testing::InitGoogleTest(&argc, argv);
109  ros::init(argc, argv, "transform_listener_backwards_reset");
110  return RUN_ALL_TESTS();
111 }
ros::Publisher
main
int main(int argc, char **argv)
Definition: time_reset_test.cpp:107
transform_broadcaster.h
ros::init
ROSCPP_DECL void init(const M_string &remappings, const std::string &name, uint32_t options=0)
ros::spinOnce
ROSCPP_DECL void spinOnce()
ros::Publisher::publish
void publish(const boost::shared_ptr< M > &message) const
ros::NodeHandle::advertise
Publisher advertise(AdvertiseOptions &ops)
tf2_ros::TransformListener
This class provides an easy way to request and receive coordinate frame transform information.
Definition: transform_listener.h:48
tf2_ros::TransformBroadcaster::sendTransform
void sendTransform(const geometry_msgs::TransformStamped &transform)
Send a StampedTransform The stamped data structure includes frame_id, and time, and parent_id already...
Definition: transform_broadcaster.cpp:45
transform_listener.h
tf2_ros::Buffer
Standard implementation of the tf2_ros::BufferInterface abstract data type.
Definition: buffer.h:51
ros::Time
tf2
tf2_ros::TransformBroadcaster
This class provides an easy way to publish coordinate frame transform information....
Definition: transform_broadcaster.h:48
spin_for_a_second
void spin_for_a_second()
Definition: time_reset_test.cpp:39
TEST
TEST(tf2_ros_transform_listener, time_backwards)
Definition: time_reset_test.cpp:49
ros::NodeHandle
tf2_ros::Buffer::canTransform
virtual bool canTransform(const std::string &target_frame, const std::string &source_frame, const ros::Time &target_time, const ros::Duration timeout, std::string *errstr=NULL) const
Test if a transform is possible.
Definition: buffer.cpp:119


tf2_ros
Author(s): Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Thu Jan 7 2021 03:15:45