testListener.cpp
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29 
30 #include "tf/transform_listener.h"
31 #include "ros/ros.h"
32 
33 #include <gtest/gtest.h>
34 
35 TEST(TransformBroadcaster, single_frame)
36 {
38  EXPECT_TRUE(tfl.waitForTransform("frame1", "frame2", ros::Time(), ros::Duration(2.0)));
39 
40 }
41 
42 TEST(TransformBroadcaster, multi_frame)
43 {
45  EXPECT_TRUE(tfl.waitForTransform("vframe0", "vframe2", ros::Time(), ros::Duration(2.0)));
46 
47 }
48 
49 int main(int argc, char ** argv)
50 {
51  testing::InitGoogleTest(&argc, argv);
52 
53  //Initialize ROS
54  ros::init(argc, argv, "listener");
55  ros::NodeHandle nh;
56 
57  int ret = RUN_ALL_TESTS();
58 
59  return ret;
60 };
61 
int main(int argc, char **argv)
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
bool waitForTransform(const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration &timeout, const ros::Duration &polling_sleep_duration=ros::Duration(0.01), std::string *error_msg=NULL) const
Block until a transform is possible or it times out.
Definition: tf.cpp:348
This class inherits from Transformer and automatically subscribes to ROS transform messages...
TEST(TransformBroadcaster, single_frame)


tf
Author(s): Tully Foote, Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Sun Jul 8 2018 02:12:41