test_urdf.py

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#!/usr/bin/env python
PKG='cob_description'
import roslib; roslib.load_manifest(PKG)

import sys
import os
import unittest

## A sample python unit test
class TestUrdf(unittest.TestCase):

        def test_correct_format(self):
                print sys.argv
                print len(sys.argv)
        
                if len(sys.argv) < 2:
                        self.fail("no urdf file given, usage: " + os.path.basename(sys.argv[0]) + " file.urdf.xacro. \ninput parameters are: " + str(sys.argv))
        
                file_to_test = sys.argv[1]
                print "testing " + file_to_test
                
                # check if file exists
                if not os.path.exists(file_to_test):
                        self.fail('file "' + file_to_test + '" not found')

                # check if xacro can be converted
                if os.system("`rospack find xacro`/xacro.py " + file_to_test + " > /tmp/test.urdf") != 0:
                        self.fail("cannot convert xacro. file: " + file_to_test)

                # check if urdf is correct
                if os.system("rosrun urdfdom check_urdf /tmp/test.urdf") != 0:
                        self.fail("urdf not correct. file: " + file_to_test)
 
if __name__ == '__main__':
        import rosunit
        rosunit.unitrun(PKG, 'test_urdf', TestUrdf)