test_two_links_moving_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   ROS_INFO("Publishing joint state to robot state publisher");
00082   ros::NodeHandle n;
00083   ros::Publisher js_pub = n.advertise<sensor_msgs::JointState>("joint_states", 100);
00084   sensor_msgs::JointState js_msg;
00085   js_msg.name.push_back("joint1");
00086   js_msg.position.push_back(M_PI);
00087   for (unsigned int i=0; i<100; i++){
00088     js_msg.header.stamp = ros::Time::now();
00089     js_pub.publish(js_msg);
00090     ros::Duration(0.1).sleep();
00091   }
00092 
00093   ASSERT_TRUE(tf.canTransform("link1", "link2", Time()));
00094   ASSERT_FALSE(tf.canTransform("base_link", "wim_link", Time()));
00095 
00096   tf::StampedTransform t;
00097   tf.lookupTransform("link1", "link2",Time(), t );
00098   EXPECT_NEAR(t.getOrigin().x(), 5.0, EPS);
00099   EXPECT_NEAR(t.getOrigin().y(), 0.0, EPS);
00100   EXPECT_NEAR(t.getOrigin().z(), 0.0, 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 }


robot_state_publisher
Author(s): Wim Meeussen
autogenerated on Wed Aug 26 2015 15:51:27