test_two_links_moving_joint.cpp

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/* Author: Wim Meeussen */
 
#include <string>
 
#include <gtest/gtest.h>
#include <ros/ros.h>
#include <tf2_ros/transform_listener.h>
#include <geometry_msgs/TransformStamped.h>
#include <boost/thread/thread.hpp>
#include <urdf/model.h>
#include <kdl_parser/kdl_parser.hpp>
 
#include "robot_state_publisher/joint_state_listener.h"
 
using namespace ros;
using namespace tf2_ros;
using namespace robot_state_publisher;
 
#define EPS 0.01
 
class TestPublisher : public testing::Test
{
public:
  JointStateListener* publisher;
 
protected:
  TestPublisher()
  {}
 
  ~TestPublisher()
  {}
};
 
TEST_F(TestPublisher, test)
{
  {
    ros::NodeHandle n_tilde;
    std::string robot_description;
    ASSERT_TRUE(n_tilde.getParam("robot_description", robot_description));
  }
 
  ROS_INFO("Creating tf listener");
  Buffer buffer;
  TransformListener listener(buffer);
 
  ROS_INFO("Publishing joint state to robot state publisher");
  ros::NodeHandle n;
  ros::Publisher js_pub = n.advertise<sensor_msgs::JointState>("joint_states", 10);
  sensor_msgs::JointState js_msg;
  js_msg.name.push_back("joint1");
  js_msg.position.push_back(M_PI);
  ros::Duration(1).sleep();
  for (unsigned int i = 0; i < 100; i++) {
    js_msg.header.stamp = ros::Time::now();
    js_pub.publish(js_msg);
    ros::Duration(0.1).sleep();
  }
 
  for (unsigned int i = 0; i < 100 && !buffer.canTransform("link1", "link2", Time()); i++) {
    ros::Duration(0.1).sleep();
    ros::spinOnce();
  }
  EXPECT_FALSE(buffer.canTransform("base_link", "wim_link", Time()));
  ASSERT_TRUE(buffer.canTransform("link1", "link2", Time()));
 
  geometry_msgs::TransformStamped t = buffer.lookupTransform("link1", "link2", Time());
  EXPECT_NEAR(t.transform.translation.x, 5.0, EPS);
  EXPECT_NEAR(t.transform.translation.y, 0.0, EPS);
  EXPECT_NEAR(t.transform.translation.z, 0.0, EPS);
 
  SUCCEED();
}
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "test_two_links_moving_joint");
 
  int res = RUN_ALL_TESTS();
 
  return res;
}