test_joint_states_bag.cpp

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/* Author: Wim Meeussen */

#include <string>

#include <gtest/gtest.h>
#include <ros/ros.h>
#include <tf2_ros/transform_listener.h>
#include <geometry_msgs/TransformStamped.h>
#include <boost/thread/thread.hpp>
#include <urdf/model.h>
#include <kdl_parser/kdl_parser.hpp>

#include "robot_state_publisher/joint_state_listener.h"

using namespace ros;
using namespace tf2_ros;
using namespace robot_state_publisher;


int g_argc;
char** g_argv;

#define EPS 0.01

class TestPublisher : public testing::Test
{
public:
  JointStateListener* publisher;

protected:
  TestPublisher()
  {}

  ~TestPublisher()
  {}
};


TEST_F(TestPublisher, test)
{
  ROS_INFO("Creating tf listener");
  Buffer buffer;
  TransformListener tf(buffer);

  ROS_INFO("Waiting for bag to complete");
  Duration(15.0).sleep();

  ASSERT_TRUE(buffer.canTransform("base_link", "torso_lift_link", Time()));
  ASSERT_TRUE(buffer.canTransform("base_link", "r_gripper_palm_link", Time()));
  ASSERT_TRUE(buffer.canTransform("base_link", "r_gripper_palm_link", Time()));
  ASSERT_TRUE(buffer.canTransform("l_gripper_palm_link", "r_gripper_palm_link", Time()));
  ASSERT_TRUE(buffer.canTransform("l_gripper_palm_link", "fl_caster_r_wheel_link", Time()));
  ASSERT_FALSE(buffer.canTransform("base_link", "wim_link", Time()));

  geometry_msgs::TransformStamped t = buffer.lookupTransform("base_link", "r_gripper_palm_link", Time());
  EXPECT_NEAR(t.transform.translation.x, 0.769198, EPS);
  EXPECT_NEAR(t.transform.translation.y, -0.188800, EPS);
  EXPECT_NEAR(t.transform.translation.z, 0.764914, EPS);

  t = buffer.lookupTransform("l_gripper_palm_link", "r_gripper_palm_link", Time());
  EXPECT_NEAR(t.transform.translation.x, 0.000384222, EPS);
  EXPECT_NEAR(t.transform.translation.y, -0.376021, EPS);
  EXPECT_NEAR(t.transform.translation.z, -1.0858e-05, EPS); SUCCEED();
}


int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "test_robot_state_publisher");

  g_argc = argc;
  g_argv = argv;
  int res = RUN_ALL_TESTS();

  return res;
}