test_two_links_moving_joint.cpp

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/* Author: Wim Meeussen */

#include <string>
#include <gtest/gtest.h>
#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <boost/thread/thread.hpp>
#include <urdf/model.h>
#include <kdl_parser/kdl_parser.hpp>
#include "robot_state_publisher/joint_state_listener.h"


using namespace ros;
using namespace tf;
using namespace robot_state_publisher;


int g_argc;
char** g_argv;

#define EPS 0.01

class TestPublisher : public testing::Test
{
public:
  JointStateListener* publisher;

protected:
  TestPublisher()
  {}

  ~TestPublisher()
  {}
};





TEST_F(TestPublisher, test)
{
  ROS_INFO("Creating tf listener");
  TransformListener tf;

  ROS_INFO("Publishing joint state to robot state publisher");
  ros::NodeHandle n;
  ros::Publisher js_pub = n.advertise<sensor_msgs::JointState>("joint_states", 100);
  sensor_msgs::JointState js_msg;
  js_msg.name.push_back("joint1");
  js_msg.position.push_back(M_PI);
  for (unsigned int i=0; i<100; i++){
    js_msg.header.stamp = ros::Time::now();
    js_pub.publish(js_msg);
    ros::Duration(0.1).sleep();
  }

  ASSERT_TRUE(tf.canTransform("link1", "link2", Time()));
  ASSERT_FALSE(tf.canTransform("base_link", "wim_link", Time()));

  tf::StampedTransform t;
  tf.lookupTransform("link1", "link2",Time(), t );
  EXPECT_NEAR(t.getOrigin().x(), 5.0, EPS);
  EXPECT_NEAR(t.getOrigin().y(), 0.0, EPS);
  EXPECT_NEAR(t.getOrigin().z(), 0.0, EPS);

  SUCCEED();
}




int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "test_robot_state_publisher");
  ros::NodeHandle node;
  boost::thread ros_thread(boost::bind(&ros::spin));

  g_argc = argc;
  g_argv = argv;
  int res = RUN_ALL_TESTS();
  ros_thread.interrupt();
  ros_thread.join();

  return res;
}