137 lines
4.2 KiB
C++
137 lines
4.2 KiB
C++
/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Wim Meeussen */
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#include <string>
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#include <gtest/gtest.h>
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#include <ros/ros.h>
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#include <tf/transform_listener.h>
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#include <boost/thread/thread.hpp>
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#include <urdf/model.h>
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#include <kdl_parser/dom_parser.hpp>
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#include "robot_state_publisher/joint_state_listener.h"
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using namespace ros;
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using namespace tf;
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using namespace robot_state_publisher;
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int g_argc;
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char** g_argv;
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#define EPS 0.01
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class TestPublisher : public testing::Test
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{
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public:
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JointStateListener* publisher;
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protected:
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/// constructor
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TestPublisher()
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{
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// constructs a robot model from the xml file
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urdf::Model robot_model;
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if (g_argc == 2){
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if (!robot_model.initFile(g_argv[1]))
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ROS_ERROR("Failed to construct robot model from xml string");
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}
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else
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ROS_ERROR("No robot model as argument given");
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// constructs a kdl tree from the robot model
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Tree tree;
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if (!kdl_parser::treeFromRobotModel(robot_model, tree))
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ROS_ERROR("Failed to extract kdl tree from robot model");
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publisher = new JointStateListener(tree);
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}
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/// Destructor
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~TestPublisher()
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{
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delete publisher;
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}
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};
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TEST_F(TestPublisher, test)
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{
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ROS_INFO("Creating tf listener");
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TransformListener tf;
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ROS_INFO("Waiting for bag to complete");
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Duration(15.0).sleep();
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ASSERT_TRUE(tf.canTransform("base_link", "torso_lift_link", Time()));
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ASSERT_TRUE(tf.canTransform("base_link", "r_gripper_palm_link", Time()));
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ASSERT_TRUE(tf.canTransform("base_link", "r_gripper_palm_link", Time()));
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ASSERT_TRUE(tf.canTransform("l_gripper_palm_link", "r_gripper_palm_link", Time()));
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ASSERT_TRUE(tf.canTransform("l_gripper_palm_link", "fl_caster_r_wheel_link", Time()));
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ASSERT_FALSE(tf.canTransform("base_link", "wim_link", Time()));
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tf::Stamped<tf::Transform> t;
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tf.lookupTransform("base_link", "r_gripper_palm_link",Time(), t );
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EXPECT_NEAR(t.getOrigin().x(), 0.769198, EPS);
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EXPECT_NEAR(t.getOrigin().y(), -0.188800, EPS);
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EXPECT_NEAR(t.getOrigin().z(), 0.764914, EPS);
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tf.lookupTransform("l_gripper_palm_link", "r_gripper_palm_link",Time(), t );
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EXPECT_NEAR(t.getOrigin().x(), 0.000384222, EPS);
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EXPECT_NEAR(t.getOrigin().y(), -0.376021, EPS);
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EXPECT_NEAR(t.getOrigin().z(), -1.0858e-05, EPS);
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SUCCEED();
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}
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int main(int argc, char** argv)
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{
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testing::InitGoogleTest(&argc, argv);
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ros::init(argc, argv, "test_robot_state_publisher");
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ros::NodeHandle node;
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boost::thread ros_thread(boost::bind(&ros::spin));
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g_argc = argc;
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g_argv = argv;
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return RUN_ALL_TESTS();
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}
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