test_buffer_client.py
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00001 #! /usr/bin/python
00002 #***********************************************************
00003 #* Software License Agreement (BSD License)
00004 #*
00005 #*  Copyright (c) 2009, Willow Garage, Inc.
00006 #*  All rights reserved.
00007 #*
00008 #*  Redistribution and use in source and binary forms, with or without
00009 #*  modification, are permitted provided that the following conditions
00010 #*  are met:
00011 #*
00012 #*   * Redistributions of source code must retain the above copyright
00013 #*     notice, this list of conditions and the following disclaimer.
00014 #*   * Redistributions in binary form must reproduce the above
00015 #*     copyright notice, this list of conditions and the following
00016 #*     disclaimer in the documentation and/or other materials provided
00017 #*     with the distribution.
00018 #*   * Neither the name of Willow Garage, Inc. nor the names of its
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00020 #*     from this software without specific prior written permission.
00021 #*
00022 #*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034 #* 
00035 #* Author: Eitan Marder-Eppstein
00036 #***********************************************************
00037 PKG = 'test_tf2'
00038 import roslib; roslib.load_manifest(PKG)
00039 
00040 import sys
00041 import unittest
00042 
00043 import tf2
00044 import tf2_ros
00045 import tf2_kdl
00046 import tf2_geometry_msgs
00047 from geometry_msgs.msg import PointStamped
00048 import rospy
00049 import PyKDL
00050 
00051 class TestBufferClient(unittest.TestCase):
00052     def test_buffer_client(self):
00053         client = tf2_ros.BufferClient("tf_action")
00054         client.wait_for_server()
00055 
00056         p1 = PointStamped()
00057         p1.header.frame_id = "a"
00058         p1.header.stamp = rospy.Time(0.0)
00059         p1.point.x = 0.0
00060         p1.point.y = 0.0
00061         p1.point.z = 0.0
00062 
00063         try:
00064             p2 = client.transform(p1, "b")
00065             rospy.loginfo("p1: %s, p2: %s" % (p1, p2))
00066         except tf2.TransformException as e:
00067             rospy.logerr("%s" % e)
00068 
00069     def test_transform_type(self):
00070         client = tf2_ros.BufferClient("tf_action")
00071         client.wait_for_server()
00072 
00073         p1 = PointStamped()
00074         p1.header.frame_id = "a"
00075         p1.header.stamp = rospy.Time(0.0)
00076         p1.point.x = 0.0
00077         p1.point.y = 0.0
00078         p1.point.z = 0.0
00079 
00080         try:
00081             p2 = client.transform(p1, "b", new_type = PyKDL.Vector)
00082             rospy.loginfo("p1: %s, p2: %s" % (str(p1), str(p2)))
00083         except tf2.TransformException as e:
00084             rospy.logerr("%s" % e)
00085 
00086 if __name__ == '__main__':
00087     rospy.init_node("test_buffer_client")
00088     import rostest
00089     rostest.rosrun(PKG, 'test_buffer_client', TestBufferClient)
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test_tf2
Author(s): Tully Foote, Eitan Marder-Eppstein
autogenerated on Mon Feb 11 2013 02:14:30