testListener.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include "tf/transform_listener.h"
#include "ros/ros.h"
 
#include <gtest/gtest.h>
 
TEST(TransformBroadcaster, single_frame)
{
  tf::TransformListener tfl;
  EXPECT_TRUE(tfl.waitForTransform("frame1", "frame2", ros::Time(), ros::Duration(2.0)));
  
}
 
TEST(TransformBroadcaster, multi_frame)
{
  tf::TransformListener tfl;
  EXPECT_TRUE(tfl.waitForTransform("vframe0", "vframe2", ros::Time(), ros::Duration(2.0)));
 
}
 
int main(int argc, char ** argv)
{
  testing::InitGoogleTest(&argc, argv);
 
  //Initialize ROS
  ros::init(argc, argv, "listener");
  ros::NodeHandle nh;
 
  int ret = RUN_ALL_TESTS();
 
  return ret;
}