urdf_unittest.py
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00001 #!/usr/bin/env python
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00033 
00034 import roslib; roslib.load_manifest('calibration_estimation')
00035 
00036 import sys
00037 import unittest
00038 import rospy
00039 import time
00040 import numpy
00041 import yaml
00042 
00043 from calibration_estimation.urdf_params import UrdfParams
00044 from calibration_estimation.cal_bag_helpers import *
00045 
00046 raw_xml = 'robot.xml'
00047 calibrated_xml = 'robot_calibrated.xml'
00048 
00049 def loadSystem():
00050     robot_description = get_robot_description('/tmp/pr2_calibration/cal_measurements.bag')
00051     outfile = open(raw_xml, 'w')
00052     outfile.write(robot_description)
00053     outfile.close()
00054     config = yaml.load('''
00055 sensors:
00056   chains: {}
00057   rectified_cams: {}
00058   tilting_lasers: {}
00059 transforms: {}
00060 checkerboards: {}
00061 ''')    
00062     return UrdfParams(robot_description, config)
00063 
00064 class TestUrdfWriter(unittest.TestCase):
00065     def test_write(self):
00066         print ""
00067         params = loadSystem()
00068         outfile = open(calibrated_xml, 'w')
00069         outfile.write( params.urdf.to_xml() )
00070         outfile.close()
00071 
00072 if __name__ == '__main__':
00073     import rostest
00074     rostest.unitrun('calibration_estimation', 'test_UrdfWriter', TestUrdfWriter, coverage_packages=['calibration_estimation.urdf_params'])
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calibration_estimation
Author(s): Vijay Pradeep, Michael Ferguson
autogenerated on Thu Aug 15 2013 10:15:40