time_reset_test.cpp
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00001 /*
00002  * Copyright (c) 2014, Open Source Robotics Foundation
00003  * All rights reserved.
00004  * 
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  * 
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  * 
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include <gtest/gtest.h>
00031 #include <tf2_ros/transform_broadcaster.h>
00032 #include <tf2_ros/transform_listener.h>
00033 #include <sys/time.h>
00034 #include <rosgraph_msgs/Clock.h>
00035 
00036 using namespace tf2;
00037 
00038 TEST(tf2_ros_transform_listener, time_backwards)
00039 {
00040 
00041   tf2_ros::Buffer buffer;
00042   tf2_ros::TransformListener tfl(buffer);
00043   tf2_ros::TransformBroadcaster tfb;
00044 
00045   ros::NodeHandle nh = ros::NodeHandle();
00046 
00047   ros::Publisher clock = nh.advertise<rosgraph_msgs::Clock>("/clock", 5);
00048 
00049   rosgraph_msgs::Clock c;
00050   c.clock = ros::Time(100);
00051   clock.publish(c);
00052 
00053   // basic test
00054   ASSERT_FALSE(buffer.canTransform("foo", "bar", ros::Time(101, 0)));
00055 
00056   // set the transform
00057   geometry_msgs::TransformStamped msg;
00058   msg.header.stamp = ros::Time(100, 0);
00059   msg.header.frame_id = "foo";
00060   msg.child_frame_id = "bar";
00061   msg.transform.rotation.x = 1.0;
00062   tfb.sendTransform(msg);
00063   msg.header.stamp = ros::Time(102, 0);
00064   tfb.sendTransform(msg);
00065   sleep(1);
00066   // verify it's been set
00067   ASSERT_TRUE(buffer.canTransform("foo", "bar", ros::Time(101, 0)));
00068 
00069   c.clock = ros::Time(90);
00070   clock.publish(c);
00071 
00072   //Send anoterh message to trigger clock test
00073   msg.header.stamp = ros::Time(110, 0);
00074   msg.header.frame_id = "foo2";
00075   msg.child_frame_id = "bar2";
00076   tfb.sendTransform(msg);
00077   sleep(1);
00078   //verify the data's been cleared
00079   ASSERT_FALSE(buffer.canTransform("foo", "bar", ros::Time(101, 0)));
00080 
00081 }
00082 
00083 
00084 
00085 
00086 int main(int argc, char **argv){
00087   testing::InitGoogleTest(&argc, argv);
00088   ros::init(argc, argv, "transform_listener_backwards_reset");
00089   return RUN_ALL_TESTS();
00090 }


tf2_ros
Author(s): Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Thu Aug 27 2015 13:10:05