test_joint_states_bag.cpp
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00034 
00035 /* Author: Wim Meeussen */
00036 
00037 #include <string>
00038 
00039 #include <gtest/gtest.h>
00040 #include <ros/ros.h>
00041 #include <tf2_ros/transform_listener.h>
00042 #include <geometry_msgs/TransformStamped.h>
00043 #include <boost/thread/thread.hpp>
00044 #include <urdf/model.h>
00045 #include <kdl_parser/kdl_parser.hpp>
00046 
00047 #include "robot_state_publisher/joint_state_listener.h"
00048 
00049 using namespace ros;
00050 using namespace tf2_ros;
00051 using namespace robot_state_publisher;
00052 
00053 
00054 int g_argc;
00055 char** g_argv;
00056 
00057 #define EPS 0.01
00058 
00059 class TestPublisher : public testing::Test
00060 {
00061 public:
00062   JointStateListener* publisher;
00063 
00064 protected:
00066   TestPublisher()
00067   {}
00068 
00070   ~TestPublisher()
00071   {}
00072 };
00073 
00074 
00075 TEST_F(TestPublisher, test)
00076 {
00077   ROS_INFO("Creating tf listener");
00078   Buffer buffer;
00079   TransformListener tf(buffer);
00080 
00081   ROS_INFO("Waiting for bag to complete");
00082   Duration(15.0).sleep();
00083 
00084   ASSERT_TRUE(buffer.canTransform("base_link", "torso_lift_link", Time()));
00085   ASSERT_TRUE(buffer.canTransform("base_link", "r_gripper_palm_link", Time()));
00086   ASSERT_TRUE(buffer.canTransform("base_link", "r_gripper_palm_link", Time()));
00087   ASSERT_TRUE(buffer.canTransform("l_gripper_palm_link", "r_gripper_palm_link", Time()));
00088   ASSERT_TRUE(buffer.canTransform("l_gripper_palm_link", "fl_caster_r_wheel_link", Time()));
00089   ASSERT_FALSE(buffer.canTransform("base_link", "wim_link", Time()));
00090 
00091   geometry_msgs::TransformStamped t = buffer.lookupTransform("base_link", "r_gripper_palm_link", Time());
00092   EXPECT_NEAR(t.transform.translation.x, 0.769198, EPS);
00093   EXPECT_NEAR(t.transform.translation.y, -0.188800, EPS);
00094   EXPECT_NEAR(t.transform.translation.z, 0.764914, EPS);
00095 
00096   t = buffer.lookupTransform("l_gripper_palm_link", "r_gripper_palm_link", Time());
00097   EXPECT_NEAR(t.transform.translation.x, 0.000384222, EPS);
00098   EXPECT_NEAR(t.transform.translation.y, -0.376021, EPS);
00099   EXPECT_NEAR(t.transform.translation.z, -1.0858e-05, EPS); SUCCEED();
00100 }
00101 
00102 
00103 int main(int argc, char** argv)
00104 {
00105   testing::InitGoogleTest(&argc, argv);
00106   ros::init(argc, argv, "test_robot_state_publisher");
00107 
00108   g_argc = argc;
00109   g_argv = argv;
00110   int res = RUN_ALL_TESTS();
00111 
00112   return res;
00113 }


robot_state_publisher
Author(s): Ioan Sucan , Jackie Kay , Wim Meeussen
autogenerated on Sat Feb 25 2017 03:35:14