test_publisher.cpp
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00034 
00035 /* Author: Wim Meeussen */
00036 
00037 #include <string>
00038 #include <gtest/gtest.h>
00039 #include <ros/ros.h>
00040 #include <tf/transform_listener.h>
00041 #include <boost/thread/thread.hpp>
00042 #include <urdf/model.h>
00043 #include <kdl_parser/kdl_parser.hpp>
00044 #include "robot_state_publisher/joint_state_listener.h"
00045 
00046 
00047 using namespace ros;
00048 using namespace tf;
00049 using namespace robot_state_publisher;
00050 
00051 
00052 int g_argc;
00053 char** g_argv;
00054 
00055 #define EPS 0.01
00056 
00057 class TestPublisher : public testing::Test
00058 {
00059 public:
00060   JointStateListener* publisher;
00061 
00062 protected:
00064   TestPublisher()
00065   {}
00066 
00068   ~TestPublisher()
00069   {}
00070 };
00071 
00072 
00073 
00074 
00075 
00076 TEST_F(TestPublisher, test)
00077 {
00078   ROS_INFO("Creating tf listener");
00079   TransformListener tf;
00080 
00081   ROS_INFO("Waiting for bag to complete");
00082   Duration(15.0).sleep();
00083 
00084   ASSERT_TRUE(tf.canTransform("base_link", "torso_lift_link", Time()));
00085   ASSERT_TRUE(tf.canTransform("base_link", "r_gripper_palm_link", Time()));
00086   ASSERT_TRUE(tf.canTransform("base_link", "r_gripper_palm_link", Time()));
00087   ASSERT_TRUE(tf.canTransform("l_gripper_palm_link", "r_gripper_palm_link", Time()));
00088   ASSERT_TRUE(tf.canTransform("l_gripper_palm_link", "fl_caster_r_wheel_link", Time()));
00089   ASSERT_FALSE(tf.canTransform("base_link", "wim_link", Time()));
00090 
00091   tf::StampedTransform t;
00092   tf.lookupTransform("base_link", "r_gripper_palm_link",Time(), t );
00093   EXPECT_NEAR(t.getOrigin().x(), 0.769198, EPS);
00094   EXPECT_NEAR(t.getOrigin().y(), -0.188800, EPS);
00095   EXPECT_NEAR(t.getOrigin().z(), 0.764914, EPS);
00096   
00097   tf.lookupTransform("l_gripper_palm_link", "r_gripper_palm_link",Time(), t );
00098   EXPECT_NEAR(t.getOrigin().x(), 0.000384222, EPS);
00099   EXPECT_NEAR(t.getOrigin().y(), -0.376021, EPS);
00100   EXPECT_NEAR(t.getOrigin().z(), -1.0858e-05, EPS);
00101 
00102   SUCCEED();
00103 }
00104 
00105 
00106 
00107 
00108 int main(int argc, char** argv)
00109 {
00110   testing::InitGoogleTest(&argc, argv);
00111   ros::init(argc, argv, "test_robot_state_publisher");
00112   ros::NodeHandle node;
00113   boost::thread ros_thread(boost::bind(&ros::spin));
00114 
00115   g_argc = argc;
00116   g_argv = argv;
00117   int res = RUN_ALL_TESTS();
00118   ros_thread.interrupt();
00119   ros_thread.join();
00120 
00121   return res;
00122 }
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robot_state_publisher
Author(s): Wim Meeussen meeussen@willowgarage.com
autogenerated on Mon Aug 19 2013 11:02:17