test_static_publisher.py
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1 #! /usr/bin/python
2 #***********************************************************
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5 #* Copyright (c) 2016, Felix Duvallet
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35 #* Author: Felix Duvallet
36 #***********************************************************
37 
38 import subprocess
39 import unittest
40 
41 import rospy
42 PKG = 'test_tf2'
43 import roslib; roslib.load_manifest(PKG)
44 
45 
46 class TestStaticPublisher(unittest.TestCase):
47  """
48  These tests ensure the static transform publisher dies gracefully when
49  provided with an invalid (or non-existent) transform parameter.
50 
51  These tests are started by the static_publisher.launch, which loads
52  parameters into the param server.
53 
54  We check the output to make sure the correct error is occurring, since the
55  return code is always -1 (255).
56 
57  Note that this *could* cause a problem if a valid TF is stored in the param
58  server for one of the names; in this case the subprocess would never return
59  and the test would run forever.
60  """
61 
63  # Start the publisher with no argument.
64  cmd = 'rosrun tf2_ros static_transform_publisher'
65  with self.assertRaises(subprocess.CalledProcessError) as cm:
66  ret = subprocess.check_output(
67  cmd.split(' '), stderr=subprocess.STDOUT)
68  self.assertEqual(255, cm.exception.returncode)
69  self.assertIn('not having the right number of arguments',
70  cm.exception.output)
71 
73  # Here there is no paramater by that name.
74  cmd = 'rosrun tf2_ros static_transform_publisher /test_tf2/tf_null'
75  with self.assertRaises(subprocess.CalledProcessError) as cm:
76  ret = subprocess.check_output(
77  cmd.split(' '), stderr=subprocess.STDOUT)
78 
79  self.assertEqual(255, cm.exception.returncode)
80  self.assertIn('Could not read TF', cm.exception.output)
81 
83  # Here there is an invalid parameter stored in the parameter server.
84  cmd = 'rosrun tf2_ros static_transform_publisher /test_tf2/tf_invalid'
85  with self.assertRaises(subprocess.CalledProcessError) as cm:
86  ret = subprocess.check_output(
87  cmd.split(' '), stderr=subprocess.STDOUT)
88 
89  self.assertEqual(255, cm.exception.returncode)
90  self.assertIn('Could not validate XmlRpcC', cm.exception.output)
91 
92 
93 if __name__ == '__main__':
94  rospy.init_node("test_static_publisher_py")
95  import rostest
96  rostest.rosrun(PKG, 'test_static_publisher_py', TestStaticPublisher)


test_tf2
Author(s): Tully Foote, Eitan Marder-Eppstein
autogenerated on Fri Jun 7 2019 21:45:56