test_two_links_fixed_joint.cpp
Go to the documentation of this file.
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2008, Willow Garage, Inc.
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Willow Garage nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 /* Author: Wim Meeussen */
00036 
00037 #include <string>
00038 #include <gtest/gtest.h>
00039 #include <ros/ros.h>
00040 #include <tf/transform_listener.h>
00041 #include <boost/thread/thread.hpp>
00042 #include <urdf/model.h>
00043 #include <kdl_parser/kdl_parser.hpp>
00044 #include "robot_state_publisher/joint_state_listener.h"
00045 
00046 
00047 using namespace ros;
00048 using namespace tf;
00049 using namespace robot_state_publisher;
00050 
00051 
00052 int g_argc;
00053 char** g_argv;
00054 
00055 #define EPS 0.01
00056 
00057 class TestPublisher : public testing::Test
00058 {
00059 public:
00060   JointStateListener* publisher;
00061 
00062 protected:
00064   TestPublisher()
00065   {}
00066 
00068   ~TestPublisher()
00069   {}
00070 };
00071 
00072 
00073 
00074 
00075 
00076 TEST_F(TestPublisher, test)
00077 {
00078   ROS_INFO("Creating tf listener");
00079   TransformListener tf;
00080 
00081   // don't need to publish joint state for tree with only fixed joints
00082   // wait for tf data to come in
00083   ros::Duration(10.0).sleep();
00084 
00085   ASSERT_TRUE(tf.canTransform("link1", "link2", Time()));
00086   ASSERT_FALSE(tf.canTransform("base_link", "wim_link", Time()));
00087 
00088   tf::StampedTransform t;
00089   tf.lookupTransform("link1", "link2",Time(), t );
00090   EXPECT_NEAR(t.getOrigin().x(), 5.0, EPS);
00091   EXPECT_NEAR(t.getOrigin().y(), 0.0, EPS);
00092   EXPECT_NEAR(t.getOrigin().z(), 0.0, EPS);
00093 
00094   SUCCEED();
00095 }
00096 
00097 
00098 
00099 
00100 int main(int argc, char** argv)
00101 {
00102   testing::InitGoogleTest(&argc, argv);
00103   ros::init(argc, argv, "test_robot_state_publisher");
00104   ros::NodeHandle node;
00105   boost::thread ros_thread(boost::bind(&ros::spin));
00106 
00107   g_argc = argc;
00108   g_argv = argv;
00109   int res = RUN_ALL_TESTS();
00110   ros_thread.interrupt();
00111   ros_thread.join();
00112 
00113   return res;
00114 }


robot_state_publisher
Author(s): Wim Meeussen
autogenerated on Wed Aug 26 2015 15:51:27