Go to the documentation of this file.00001
00002
00003 import unittest
00004
00005 import numpy as np
00006
00007 from jsk_recognition_msgs.msg import ClusterPointIndices
00008 from pcl_msgs.msg import PointIndices
00009 import rospy
00010 import rostest
00011
00012
00013 class TestPointIndicesToClusterPointIndices(unittest.TestCase):
00014
00015 def setUp(self):
00016 self.msg = None
00017 self.indices = (0, 10, 20, 30)
00018 self.pub = rospy.Publisher('~output', PointIndices, queue_size=1)
00019 self.sub = rospy.Subscriber('~input', ClusterPointIndices, self.cb)
00020
00021 def cb(self, msg):
00022 self.msg = msg
00023
00024 def test_conversion(self):
00025 indices_msg = PointIndices()
00026 while self.msg is None:
00027 indices_msg.header.stamp = rospy.Time.now()
00028 indices_msg.indices = self.indices
00029 self.pub.publish(indices_msg)
00030 rospy.sleep(0.1)
00031
00032 self.assertEqual(len(self.msg.cluster_indices), 1)
00033 self.assertTupleEqual(self.msg.cluster_indices[0].indices,
00034 self.indices)
00035
00036
00037 if __name__ == "__main__":
00038 PKG = 'jsk_pcl_ros_utils'
00039 ID = 'test_point_indices_to_cluster_point_indices'
00040 rospy.init_node(ID)
00041 rostest.rosrun(PKG, ID, TestPointIndicesToClusterPointIndices)