test_two_links_fixed_joint.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   // don't need to publish joint state for tree with only fixed joints
00082   // wait for tf data to come in
00083   ros::Duration(10.0).sleep();
00084 
00085   ASSERT_TRUE(tf.canTransform("link1", "link2", Time()));
00086   ASSERT_FALSE(tf.canTransform("base_link", "wim_link", Time()));
00087 
00088   tf::StampedTransform t;
00089   tf.lookupTransform("link1", "link2",Time(), t );
00090   EXPECT_NEAR(t.getOrigin().x(), 5.0, EPS);
00091   EXPECT_NEAR(t.getOrigin().y(), 0.0, EPS);
00092   EXPECT_NEAR(t.getOrigin().z(), 0.0, EPS);
00093 
00094   SUCCEED();
00095 }
00096 
00097 
00098 
00099 
00100 int main(int argc, char** argv)
00101 {
00102   testing::InitGoogleTest(&argc, argv);
00103   ros::init(argc, argv, "test_robot_state_publisher");
00104   ros::NodeHandle node;
00105   boost::thread ros_thread(boost::bind(&ros::spin));
00106 
00107   g_argc = argc;
00108   g_argv = argv;
00109   int res = RUN_ALL_TESTS();
00110   ros_thread.interrupt();
00111   ros_thread.join();
00112 
00113   return res;
00114 }
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robot_state_publisher
Author(s): Wim Meeussen meeussen@willowgarage.com
autogenerated on Mon Aug 19 2013 11:02:17