time_reset_test.cpp
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1 /*
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29 
30 #include <gtest/gtest.h>
33 #include <sys/time.h>
34 #include <rosgraph_msgs/Clock.h>
35 
36 using namespace tf2;
37 
39 {
40  ros::spinOnce();
41  for (uint8_t i = 0; i < 10; ++i)
42  {
43  usleep(100);
44  ros::spinOnce();
45  }
46 }
47 
48 TEST(tf2_ros_transform_listener, time_backwards)
49 {
50 
51  tf2_ros::Buffer buffer;
52  tf2_ros::TransformListener tfl(buffer);
54 
56 
57  ros::Publisher clock = nh.advertise<rosgraph_msgs::Clock>("/clock", 5);
58 
59  rosgraph_msgs::Clock c;
60  c.clock = ros::Time(100);
61  clock.publish(c);
62 
63  // basic test
64  ASSERT_FALSE(buffer.canTransform("foo", "bar", ros::Time(101, 0)));
65 
66  // set the transform
67  geometry_msgs::TransformStamped msg;
68  msg.header.stamp = ros::Time(100, 0);
69  msg.header.frame_id = "foo";
70  msg.child_frame_id = "bar";
71  msg.transform.rotation.x = 1.0;
72  tfb.sendTransform(msg);
73  msg.header.stamp = ros::Time(102, 0);
74  tfb.sendTransform(msg);
75 
76 
77  // make sure it arrives
79 
80  // verify it's been set
81  ASSERT_TRUE(buffer.canTransform("foo", "bar", ros::Time(101, 0)));
82 
83  c.clock = ros::Time(90);
84  clock.publish(c);
85 
86  // make sure it arrives
88 
89  //Send another message to trigger clock test on an unrelated frame
90  msg.header.stamp = ros::Time(110, 0);
91  msg.header.frame_id = "foo2";
92  msg.child_frame_id = "bar2";
93  tfb.sendTransform(msg);
94 
95  // make sure it arrives
97 
98  //verify the data's been cleared
99  ASSERT_FALSE(buffer.canTransform("foo", "bar", ros::Time(101, 0)));
100 
101 }
102 
103 
104 
105 
106 int main(int argc, char **argv){
107  testing::InitGoogleTest(&argc, argv);
108  ros::init(argc, argv, "transform_listener_backwards_reset");
109  return RUN_ALL_TESTS();
110 }
int main(int argc, char **argv)
void publish(const boost::shared_ptr< M > &message) const
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
Standard implementation of the tf2_ros::BufferInterface abstract data type.
Definition: buffer.h:51
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
void sendTransform(const geometry_msgs::TransformStamped &transform)
Send a StampedTransform The stamped data structure includes frame_id, and time, and parent_id already...
This class provides an easy way to request and receive coordinate frame transform information...
This class provides an easy way to publish coordinate frame transform information. It will handle all the messaging and stuffing of messages. And the function prototypes lay out all the necessary data needed for each message.
virtual bool canTransform(const std::string &target_frame, const std::string &source_frame, const ros::Time &target_time, const ros::Duration timeout, std::string *errstr=NULL) const
Test if a transform is possible.
Definition: buffer.cpp:119
TEST(tf2_ros_transform_listener, time_backwards)
ROSCPP_DECL void spinOnce()
void spin_for_a_second()


tf2_ros
Author(s): Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Mon Jun 10 2019 12:25:55