urdf_unittest.py

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#!/usr/bin/env python
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import roslib; roslib.load_manifest('calibration_estimation')

import sys
import unittest
import rospy
import time
import numpy
import yaml

from calibration_estimation.urdf_params import UrdfParams
from calibration_estimation.cal_bag_helpers import *

raw_xml = 'robot.xml'
calibrated_xml = 'robot_calibrated.xml'

def loadSystem():
    robot_description = get_robot_description('/tmp/pr2_calibration/cal_measurements.bag')
    outfile = open(raw_xml, 'w')
    outfile.write(robot_description)
    outfile.close()
    config = yaml.load('''
sensors:
  chains: {}
  rectified_cams: {}
  tilting_lasers: {}
transforms: {}
checkerboards: {}
''')    
    return UrdfParams(robot_description, config)

class TestUrdfWriter(unittest.TestCase):
    def test_write(self):
        print ""
        params = loadSystem()
        outfile = open(calibrated_xml, 'w')
        outfile.write( params.urdf.to_xml() )
        outfile.close()

if __name__ == '__main__':
    import rostest
    rostest.unitrun('calibration_estimation', 'test_UrdfWriter', TestUrdfWriter, coverage_packages=['calibration_estimation.urdf_params'])