test_rgbd_launch.py
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00001 #!/usr/bin/env python
00002 # -*- coding: utf-8 -*-
00003 #***********************************************************
00004 #* Software License Agreement (BSD License)
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00006 #*  Copyright (c) 2009, Willow Garage, Inc.
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00009 #*  Redistribution and use in source and binary forms, with or without
00010 #*  modification, are permitted provided that the following conditions
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00013 #*   * Redistributions of source code must retain the above copyright
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00023 #*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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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)


rgbd_launch
Author(s): Patrick Mihelich and others
autogenerated on Thu Jun 6 2019 17:43:16