urdf_unittest.py
Go to the documentation of this file.
00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
00003 #
00004 # Copyright (c) 2011, Willow Garage, Inc.
00005 # All rights reserved.
00006 #
00007 # Redistribution and use in source and binary forms, with or without
00008 # modification, are permitted provided that the following conditions
00009 # are met:
00010 #
00011 #  * Redistributions of source code must retain the above copyright
00012 #    notice, this list of conditions and the following disclaimer.
00013 #  * Redistributions in binary form must reproduce the above
00014 #    copyright notice, this list of conditions and the following
00015 #    disclaimer in the documentation and/or other materials provided
00016 #    with the distribution.
00017 #  * Neither the name of Willow Garage, Inc. nor the names of its
00018 #    contributors may be used to endorse or promote products derived
00019 #    from this software without specific prior written permission.
00020 #
00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 # POSSIBILITY OF SUCH DAMAGE.
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'])


calibration_estimation
Author(s): Vijay Pradeep, Michael Ferguson
autogenerated on Wed Aug 26 2015 10:56:21