test_rgbd_launch.py

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#!/usr/bin/env python
# -*- coding: utf-8 -*-
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# Author: Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp>


import tf2_ros
import rospy
from unittest import TestCase


class TestRGBDLaunch(TestCase):
    def testKinectFrames(self):
        tfBuffer = tf2_ros.Buffer()
        tfListener = tf2_ros.TransformListener(tfBuffer)
        try:
            trans = tfBuffer.lookup_transform("camera_depth_optical_frame",
                                               "camera_rgb_optical_frame",
                                              rospy.Time(),
                                              timeout=rospy.Duration(20))
            self.assertIsNotNone(trans)
        except Exception as e:
            self.fail(str(e))

if __name__ == '__main__':
    rospy.init_node("test_kinect_frames")
    import rostest
    rostest.rosrun("rgbd_launch", "test_kinect_frames", TestRGBDLaunch)