testListener.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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#include "tf/transform_listener.h"
#include "ros/ros.h"

#include <gtest/gtest.h>

TEST(TransformBroadcaster, single_frame)
{
  tf::TransformListener tfl;
  EXPECT_TRUE(tfl.waitForTransform("frame1", "frame2", ros::Time(), ros::Duration(2.0)));
  
}

TEST(TransformBroadcaster, multi_frame)
{
  tf::TransformListener tfl;
  EXPECT_TRUE(tfl.waitForTransform("vframe0", "vframe2", ros::Time(), ros::Duration(2.0)));

}

int main(int argc, char ** argv)
{
  testing::InitGoogleTest(&argc, argv);

  //Initialize ROS
  ros::init(argc, argv, "listener");
  ros::NodeHandle nh;

  int ret = RUN_ALL_TESTS();

  return ret;
}