test_two_links_fixed_joint.cpp
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00034 
00035 /* Author: Wim Meeussen */
00036 
00037 #include <string>
00038 
00039 #include <gtest/gtest.h>
00040 #include <ros/ros.h>
00041 #include <tf2_ros/transform_listener.h>
00042 #include <geometry_msgs/TransformStamped.h>
00043 #include <boost/thread/thread.hpp>
00044 #include <urdf/model.h>
00045 #include <kdl_parser/kdl_parser.hpp>
00046 
00047 #include "robot_state_publisher/joint_state_listener.h"
00048 
00049 using namespace ros;
00050 using namespace tf2_ros;
00051 using namespace robot_state_publisher;
00052 
00053 #define EPS 0.01
00054 
00055 class TestPublisher : public testing::Test
00056 {
00057 public:
00058   JointStateListener* publisher;
00059 
00060 protected:
00062   TestPublisher()
00063   {}
00064 
00066   ~TestPublisher()
00067   {}
00068 };
00069 
00070 TEST_F(TestPublisher, test)
00071 {
00072   {
00073     ros::NodeHandle n_tilde;
00074     std::string robot_description;
00075     ASSERT_TRUE(n_tilde.getParam("robot_description", robot_description));
00076   }
00077 
00078   ROS_INFO("Creating tf listener");
00079   Buffer buffer;
00080   TransformListener listener(buffer);
00081 
00082 
00083   for (unsigned int i = 0; i < 100 && !buffer.canTransform("link1", "link2", Time()); i++) {
00084     ros::Duration(0.1).sleep();
00085     ros::spinOnce();
00086   }
00087 
00088 
00089   ASSERT_TRUE(buffer.canTransform("link1", "link2", Time()));
00090   ASSERT_FALSE(buffer.canTransform("base_link", "wim_link", Time()));
00091 
00092   geometry_msgs::TransformStamped t = buffer.lookupTransform("link1", "link2", Time());
00093   EXPECT_NEAR(t.transform.translation.x, 5.0, EPS);
00094   EXPECT_NEAR(t.transform.translation.y, 0.0, EPS);
00095   EXPECT_NEAR(t.transform.translation.z, 0.0, EPS);
00096 
00097   SUCCEED();
00098 }
00099 
00100 int main(int argc, char** argv)
00101 {
00102   testing::InitGoogleTest(&argc, argv);
00103   ros::init(argc, argv, "test_two_links_fixed_joint");
00104 
00105   int res = RUN_ALL_TESTS();
00106 
00107   return res;
00108 }


robot_state_publisher
Author(s): Ioan Sucan , Jackie Kay , Wim Meeussen
autogenerated on Sat Feb 9 2019 04:16:45