test_frames_and_slashes.cpp

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#include <string>
#include <vector>
 
#include <gtest/gtest.h>
#include <ros/ros.h>
#include <geometry_msgs/Transform.h>
#include <tf2_msgs/TFMessage.h>
 
#define EPS 0.01
 
class TestFramesAndSlashes : public testing::Test
{
protected:
  TestFramesAndSlashes()
  {
    tf_static_sub_ = n_.subscribe(
      "/tf_static", 1, &TestFramesAndSlashes::tf_static_callback, this);
  }
 
  ~TestFramesAndSlashes() = default;
 
  void
  tf_static_callback(const tf2_msgs::TFMessage::ConstPtr msg)
  {
    transforms_received_ = *msg;
    // avoid writing another message while test is reading the one received
    tf_static_sub_.shutdown();
    got_transforms_ = true;
  }
 
  ros::NodeHandle n_;
  ros::Subscriber tf_sub_;
  ros::Subscriber tf_static_sub_;
  tf2_msgs::TFMessage transforms_received_;
  bool got_transforms_ = false;
};
 
TEST_F(TestFramesAndSlashes, test)
{
  std::vector<std::string> expected_links(13);
 
  {
    ros::NodeHandle n_tilde;
    std::string robot_description;
    ASSERT_TRUE(n_tilde.getParam("robot_description", robot_description));
    ASSERT_TRUE(n_tilde.getParam("expected_name_link_1", expected_links[0]));
    ASSERT_TRUE(n_tilde.getParam("expected_name_link_2", expected_links[1]));
    ASSERT_TRUE(n_tilde.getParam("expected_name_link_3", expected_links[2]));
    ASSERT_TRUE(n_tilde.getParam("expected_name_link_4", expected_links[3]));
    ASSERT_TRUE(n_tilde.getParam("expected_name_link_5", expected_links[4]));
    ASSERT_TRUE(n_tilde.getParam("expected_name_link_6", expected_links[5]));
    ASSERT_TRUE(n_tilde.getParam("expected_name_link_7", expected_links[6]));
    ASSERT_TRUE(n_tilde.getParam("expected_name_link_8", expected_links[7]));
    ASSERT_TRUE(n_tilde.getParam("expected_name_link_9", expected_links[8]));
    ASSERT_TRUE(n_tilde.getParam("expected_name_link_10", expected_links[9]));
    ASSERT_TRUE(n_tilde.getParam("expected_name_link_11", expected_links[10]));
    ASSERT_TRUE(n_tilde.getParam("expected_name_link_12", expected_links[11]));
    ASSERT_TRUE(n_tilde.getParam("expected_name_link_13", expected_links[12]));
  }
 
  for (int i = 0; i < 100 && !got_transforms_; ++i) {
    ros::Duration(0.1).sleep();
    ros::spinOnce();
  }
  ASSERT_TRUE(got_transforms_);
 
  for (size_t n = 1; n < expected_links.size(); ++n) {
    const std::string & link_1 = expected_links.at(0);
    const std::string & link_n = expected_links.at(n);
 
    bool found_transform_ = false;
    geometry_msgs::Transform transform;
    for (const geometry_msgs::TransformStamped & tf_stamped : transforms_received_.transforms) {
      if (tf_stamped.header.frame_id == link_1 &&
          tf_stamped.child_frame_id == link_n)
      {
        transform = tf_stamped.transform;
        found_transform_ = true;
      }
    }
 
    EXPECT_TRUE(found_transform_) << "expected " << link_1 << " and " << link_n;
    if (found_transform_) {
      EXPECT_NEAR(transform.translation.x, n + 1, EPS) << "frames " << link_1 << " and " << link_n;
    }
  }
 
  // Print transforms received for easier debugging
  EXPECT_FALSE(testing::Test::HasFailure()) << transforms_received_;
}
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "test_frames_and_slashes");
 
  int res = RUN_ALL_TESTS();
 
  return res;
}