test_rgbd_launch.py
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1 #!/usr/bin/env python
2 # -*- coding: utf-8 -*-
3 #***********************************************************
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6 #* Copyright (c) 2009, Willow Garage, Inc.
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36 # Author: Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp>
37 
38 
39 import tf2_ros
40 import rospy
41 from unittest import TestCase
42 
43 
44 class TestRGBDLaunch(TestCase):
45  def testKinectFrames(self):
46  tfBuffer = tf2_ros.Buffer()
47  tfListener = tf2_ros.TransformListener(tfBuffer)
48  try:
49  trans = tfBuffer.lookup_transform("camera_depth_optical_frame",
50  "camera_rgb_optical_frame",
51  rospy.Time(),
52  timeout=rospy.Duration(20))
53  self.assertIsNotNone(trans)
54  except Exception as e:
55  self.fail(str(e))
56 
57 if __name__ == '__main__':
58  rospy.init_node("test_kinect_frames")
59  import rostest
60  rostest.rosrun("rgbd_launch", "test_kinect_frames", TestRGBDLaunch)


rgbd_launch
Author(s): Patrick Mihelich and others
autogenerated on Sat Jun 8 2019 04:40:51