test_publisher.cpp

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/* Author: Wim Meeussen */

#include <string>
#include <gtest/gtest.h>
#include <ros/ros.h>
#include <tf/transform_listener.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 tf;
using namespace robot_state_publisher;


int g_argc;
char** g_argv;

#define EPS 0.01

class TestPublisher : public testing::Test
{
public:
  JointStateListener* publisher;

protected:
  TestPublisher()
  {}

  ~TestPublisher()
  {}
};





TEST_F(TestPublisher, test)
{
  ROS_INFO("Creating tf listener");
  TransformListener tf;

  ROS_INFO("Waiting for bag to complete");
  Duration(15.0).sleep();

  ASSERT_TRUE(tf.canTransform("base_link", "torso_lift_link", Time()));
  ASSERT_TRUE(tf.canTransform("base_link", "r_gripper_palm_link", Time()));
  ASSERT_TRUE(tf.canTransform("base_link", "r_gripper_palm_link", Time()));
  ASSERT_TRUE(tf.canTransform("l_gripper_palm_link", "r_gripper_palm_link", Time()));
  ASSERT_TRUE(tf.canTransform("l_gripper_palm_link", "fl_caster_r_wheel_link", Time()));
  ASSERT_FALSE(tf.canTransform("base_link", "wim_link", Time()));

  tf::StampedTransform t;
  tf.lookupTransform("base_link", "r_gripper_palm_link",Time(), t );
  EXPECT_NEAR(t.getOrigin().x(), 0.769198, EPS);
  EXPECT_NEAR(t.getOrigin().y(), -0.188800, EPS);
  EXPECT_NEAR(t.getOrigin().z(), 0.764914, EPS);
  
  tf.lookupTransform("l_gripper_palm_link", "r_gripper_palm_link",Time(), t );
  EXPECT_NEAR(t.getOrigin().x(), 0.000384222, EPS);
  EXPECT_NEAR(t.getOrigin().y(), -0.376021, EPS);
  EXPECT_NEAR(t.getOrigin().z(), -1.0858e-05, EPS);

  SUCCEED();
}




int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "test_robot_state_publisher");
  ros::NodeHandle node;
  boost::thread ros_thread(boost::bind(&ros::spin));

  g_argc = argc;
  g_argv = argv;
  int res = RUN_ALL_TESTS();
  ros_thread.interrupt();
  ros_thread.join();

  return res;
}