00001 #!/usr/bin/env python 00002 # -*- coding: utf-8 -*- 00003 #*********************************************************** 00004 #* Software License Agreement (BSD License) 00005 #* 00006 #* Copyright (c) 2009, Willow Garage, Inc. 00007 #* All rights reserved. 00008 #* 00009 #* Redistribution and use in source and binary forms, with or without 00010 #* modification, are permitted provided that the following conditions 00011 #* are met: 00012 #* 00013 #* * Redistributions of source code must retain the above copyright 00014 #* notice, this list of conditions and the following disclaimer. 00015 #* * Redistributions in binary form must reproduce the above 00016 #* copyright notice, this list of conditions and the following 00017 #* disclaimer in the documentation and/or other materials provided 00018 #* with the distribution. 00019 #* * Neither the name of the Willow Garage nor the names of its 00020 #* contributors may be used to endorse or promote products derived 00021 #* from this software without specific prior written permission. 00022 #* 00023 #* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 #* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 #* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 #* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 #* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 #* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 #* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 #* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 #* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 #* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 #* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 #* POSSIBILITY OF SUCH DAMAGE. 00035 #*********************************************************** 00036 # Author: Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp> 00037 00038 import tf 00039 import rospy 00040 from unittest import TestCase 00041 00042 00043 class TestRGBDLaunch(TestCase): 00044 def testKinectFrames(self): 00045 tfListener = tf.TransformListener() 00046 try: 00047 tfListener.waitForTransform("camera_depth_optical_frame", 00048 "camera_rgb_optical_frame", 00049 rospy.Time(), rospy.Duration(20)) 00050 except Exception as e: 00051 self.fail(str(e)) 00052 try: 00053 trans = tfListener.lookupTransform("camera_depth_optical_frame", 00054 "camera_rgb_optical_frame", 00055 rospy.Time()) 00056 self.assertIsNotNone(trans) 00057 except Exception as e: 00058 self.fail(str(e)) 00059 00060 if __name__ == '__main__': 00061 rospy.init_node("test_kinect_frames") 00062 import rostest 00063 rostest.rosrun("rgbd_launch", "test_kinect_frames", TestRGBDLaunch)