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/*
* Copyright (c) 2008, 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 the 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.
*/
#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;
}
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