time_reset_test.cpp

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/*
 * Copyright (c) 2014, Open Source Robotics Foundation
 * All rights reserved.
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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include <gtest/gtest.h>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2_ros/transform_listener.h>
#include <sys/time.h>
#include <rosgraph_msgs/Clock.h>

using namespace tf2;

TEST(tf2_ros_transform_listener, time_backwards)
{

  tf2_ros::Buffer buffer;
  tf2_ros::TransformListener tfl(buffer);
  tf2_ros::TransformBroadcaster tfb;

  ros::NodeHandle nh = ros::NodeHandle();

  ros::Publisher clock = nh.advertise<rosgraph_msgs::Clock>("/clock", 5);

  rosgraph_msgs::Clock c;
  c.clock = ros::Time(100);
  clock.publish(c);

  // basic test
  ASSERT_FALSE(buffer.canTransform("foo", "bar", ros::Time(101, 0)));

  // set the transform
  geometry_msgs::TransformStamped msg;
  msg.header.stamp = ros::Time(100, 0);
  msg.header.frame_id = "foo";
  msg.child_frame_id = "bar";
  msg.transform.rotation.x = 1.0;
  tfb.sendTransform(msg);
  msg.header.stamp = ros::Time(102, 0);
  tfb.sendTransform(msg);


  // make sure it arrives
  ros::spinOnce();
  sleep(1);

  // verify it's been set
  ASSERT_TRUE(buffer.canTransform("foo", "bar", ros::Time(101, 0)));

  c.clock = ros::Time(90);
  clock.publish(c);

  // make sure it arrives
  ros::spinOnce();
  sleep(1);
  ros::spinOnce();

  //Send another message to trigger clock test on an unrelated frame
  msg.header.stamp = ros::Time(110, 0);
  msg.header.frame_id = "foo2";
  msg.child_frame_id = "bar2";
  tfb.sendTransform(msg);

  // make sure it arrives
  ros::spinOnce();
  sleep(1);
  ros::spinOnce();

  //verify the data's been cleared
  ASSERT_FALSE(buffer.canTransform("foo", "bar", ros::Time(101, 0)));

}




int main(int argc, char **argv){
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "transform_listener_backwards_reset");
  return RUN_ALL_TESTS();
}