test_convert.py

Go to the documentation of this file.

#! /usr/bin/python
#***********************************************************
#* Software License Agreement (BSD License)
#*
#*  Copyright (c) 2009, Willow Garage, Inc.
#*  All rights reserved.
#*
#*  Redistribution and use in source and binary forms, with or without
#*  modification, are permitted provided that the following conditions
#*  are met:
#*
#*   * Redistributions of source code must retain the above copyright
#*     notice, this list of conditions and the following disclaimer.
#*   * Redistributions in binary form must reproduce the above
#*     copyright notice, this list of conditions and the following
#*     disclaimer in the documentation and/or other materials provided
#*     with the distribution.
#*   * Neither the name of Willow Garage, Inc. nor the names of its
#*     contributors may be used to endorse or promote products derived
#*     from this software without specific prior written permission.
#*
#*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
#*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
#*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
#*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
#*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
#*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
#*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
#*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
#*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
#*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
#*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
#*  POSSIBILITY OF SUCH DAMAGE.
#* 
#* Author: Eitan Marder-Eppstein
#***********************************************************
PKG = 'test_tf2'
import roslib; roslib.load_manifest(PKG)

import sys
import unittest

import tf2
import tf2_ros
import tf2_geometry_msgs
from geometry_msgs.msg import PointStamped
import rospy
import tf2_kdl
import PyKDL

class TestConvert(unittest.TestCase):
    def test_convert(self):
        p = tf2_ros.Stamped(PyKDL.Vector(1, 2, 3), rospy.Time(), 'my_frame')
        print p
        msg = tf2_ros.convert(p, PointStamped) 
        print msg
        p2 = tf2_ros.convert(msg, PyKDL.Vector)
        print p2
        p2[0] = 100
        print p
        print p2
        print p2.header

if __name__ == '__main__':
    import rostest
    rostest.unitrun(PKG, 'test_buffer_client', TestConvert)