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import rostest
import rospy
import unittest
import time
import tf.transformations
import geometry_msgs.msg
import sensor_msgs.msg
import tf
def process_time():
try:
# Available in Python >= 3.3 required in Python >= 3.8
return time.process_time()
except AttributeError:
# Python < 3.3 compatibility
return time.clock()
class Mock:
pass
def setT(t, parent, frame, ti, x):
m = Mock()
m.parent_id = parent
m.header = Mock()
m.header.stamp = ti
m.header.frame_id = frame
m.transform = Mock()
m.transform.translation = Mock()
m.transform.translation.x = x
m.transform.translation.y = 0
m.transform.translation.z = 0
m.transform.rotation = Mock()
m.transform.rotation.x = 0
m.transform.rotation.y = 0
m.transform.rotation.z = 0
m.transform.rotation.w = 1
t.setTransform(m)
class TestPython(unittest.TestCase):
@classmethod
def setUpClass(cls):
super(TestPython, cls).setUpClass()
rospy.rostime.set_rostime_initialized(True)
def setUp(self):
pass
def common(self, t):
m = geometry_msgs.msg.TransformStamped()
m.header.frame_id = "PARENT"
m.child_frame_id = "THISFRAME"
m.transform.translation.y = 5.0
m.transform.rotation = geometry_msgs.msg.Quaternion(*tf.transformations.quaternion_from_euler(0, 0, 0))
t.setTransform(m)
afs = t.allFramesAsString()
self.assert_(len(afs) != 0)
self.assert_("PARENT" in afs)
self.assert_("THISFRAME" in afs)
# Test getFrameStrings
frames = t.getFrameStrings()
self.assert_("THISFRAME" in frames)
self.assert_("PARENT" not in frames)
self.assert_(t.frameExists("THISFRAME"))
self.assert_(not t.frameExists("PARENT"))
self.assert_(t.getLatestCommonTime("THISFRAME", "PARENT").to_sec() == 0)
for ti in [3, 5, 10, 11, 19, 20, 21]:
m.header.stamp.secs = ti
t.setTransform(m)
self.assert_(t.getLatestCommonTime("THISFRAME", "PARENT").to_sec() == ti)
# Verify that getLatestCommonTime with nonexistent frames raise exception
self.assertRaises(tf.Exception, lambda: t.getLatestCommonTime("MANDALAY", "JUPITER"))
self.assertRaises(tf.LookupException, lambda: t.lookupTransform("MANDALAY", "JUPITER", rospy.Time()))
# Ask for transform for valid frames, but more than 10 seconds in the past. Should raise ExtrapolationException
self.assertRaises(tf.ExtrapolationException, lambda: t.lookupTransform("THISFRAME", "PARENT", rospy.Time(2)))
#### print t.lookupVelocity("THISFRAME", "PARENT", rospy.Time(15), rospy.Duration(5))
def test_smoke(self):
t = tf.Transformer()
self.common(t)
def test_chain(self):
t = tf.Transformer()
self.common(t)
m = geometry_msgs.msg.TransformStamped()
m.header.frame_id = "A"
m.child_frame_id = "B"
m.transform.translation.y = 5.0
m.transform.rotation = geometry_msgs.msg.Quaternion(*tf.transformations.quaternion_from_euler(0, 0, 0))
t.setTransform(m)
m.header.frame_id = "B"
m.child_frame_id = "C"
t.setTransform(m)
m.header.frame_id = "B"
m.child_frame_id = "C"
t.setTransform(m)
chain = t.chain("A", rospy.Time(0), "C", rospy.Time(0), "B")
print("Chain is {}".format(chain))
self.assert_("C" in chain)
self.assert_("B" in chain)
def test_wait_for_transform(self):
def elapsed_time_within_epsilon(t, delta, epsilon):
self.assertLess( t - epsilon, delta)
self.assertGreater( delta, t + epsilon)
t = tf.Transformer()
self.common(t)
timeout = rospy.Duration(1)
epsilon = 0.1
# Check for dedicated thread exception, existing frames
self.assertRaises(tf.Exception, lambda: t.waitForTransform("PARENT", "THISFRAME", rospy.Time(), timeout))
# Check for dedicated thread exception, non-existing frames
self.assertRaises(tf.Exception, lambda: t.waitForTransform("MANDALAY", "JUPITER", rospy.Time(), timeout))
t.setUsingDedicatedThread(True)
# This will no longer thorw
self.assertEqual(t.waitForTransform("PARENT", "THISFRAME", rospy.Time(), timeout), None)
self.assertEqual(t.waitForTransform("PARENT", "THISFRAME", rospy.Time(15), timeout), None)
# Verify exception still thrown with unavailable time near timeout
start = process_time()
self.assertRaises(tf.Exception, lambda: t.waitForTransform("PARENT", "THISFRAME", rospy.Time(25), timeout))
elapsed_time_within_epsilon(process_time() - start, timeout.to_sec(), epsilon)
# Verify exception stil thrown with non-existing frames near timeout
start = process_time()
self.assertRaises(tf.Exception, lambda: t.waitForTransform("MANDALAY", "JUPITER", rospy.Time(), timeout))
elapsed_time_within_epsilon(process_time() - start, timeout.to_sec(), epsilon)
def test_cache_time(self):
# Vary cache_time and confirm its effect on ExtrapolationException from lookupTransform().
for cache_time in range(2, 98):
t = tf.Transformer(True, rospy.Duration(cache_time))
m = geometry_msgs.msg.TransformStamped()
m.header.frame_id = "PARENT"
m.child_frame_id = "THISFRAME"
m.transform.translation.y = 5.0
m.transform.rotation = geometry_msgs.msg.Quaternion(*tf.transformations.quaternion_from_euler(0, 0, 0))
t.setTransform(m)
afs = t.allFramesAsString()
self.assert_(len(afs) != 0)
self.assert_("PARENT" in afs)
self.assert_("THISFRAME" in afs)
self.assert_(t.getLatestCommonTime("THISFRAME", "PARENT").to_sec() == 0)
# Set transforms for time 0..100 inclusive
for ti in range(101):
m.header.stamp = rospy.Time(ti)
t.setTransform(m)
self.assert_(t.getLatestCommonTime("THISFRAME", "PARENT").to_sec() == ti)
self.assertEqual(t.getLatestCommonTime("THISFRAME", "PARENT").to_sec(), 100)
# (avoid time of 0 because that means 'latest')
for ti in range(1, 100 - cache_time):
self.assertRaises(tf.ExtrapolationException, lambda: t.lookupTransform("THISFRAME", "PARENT", rospy.Time(ti)))
for ti in range(100 - cache_time, 100):
t.lookupTransform("THISFRAME", "PARENT", rospy.Time(ti))
def test_subclass(self):
class TransformerSubclass(tf.Transformer):
def extra(self):
return 77
t = TransformerSubclass(True, rospy.Duration.from_sec(10.0))
self.assert_(t.extra() == 77)
self.common(t)
self.assert_(t.extra() == 77)
def test_twist(self):
t = tf.Transformer()
vel = 3
for ti in range(5):
m = geometry_msgs.msg.TransformStamped()
m.header.frame_id = "PARENT"
m.header.stamp = rospy.Time(ti)
m.child_frame_id = "THISFRAME"
m.transform.translation.x = ti * vel
m.transform.rotation = geometry_msgs.msg.Quaternion(*tf.transformations.quaternion_from_euler(0, 0, 0))
t.setTransform(m)
tw0 = t.lookupTwist("THISFRAME", "PARENT", rospy.Time(0.0), rospy.Duration(4.001))
self.assertAlmostEqual(tw0[0][0], vel, 2)
tw1 = t.lookupTwistFull("THISFRAME", "PARENT", "PARENT", (0, 0, 0), "THISFRAME", rospy.Time(0.0), rospy.Duration(4.001))
self.assertEqual(tw0, tw1)
def test_transformer_ros(self):
tr = tf.TransformerROS()
m = geometry_msgs.msg.TransformStamped()
m.header.stamp = rospy.Time().from_sec(3.0)
m.header.frame_id = "PARENT"
m.child_frame_id = "THISFRAME"
m.transform.translation.y = 5.0
m.transform.rotation.x = 0.04997917
m.transform.rotation.y = 0
m.transform.rotation.z = 0
m.transform.rotation.w = 0.99875026
tr.setTransform(m)
m.header.stamp = rospy.Time().from_sec(5.0)
tr.setTransform(m)
# Smoke the various transform* methods
types = [ "Point", "Pose", "Quaternion", "Vector3" ]
for t in types:
msg = getattr(geometry_msgs.msg, "{}Stamped".format(t))()
msg.header.frame_id = "THISFRAME"
msg_t = getattr(tr, "transform{}".format(t))("PARENT", msg)
self.assertEqual(msg_t.header.frame_id, "PARENT")
# PointCloud is a bit different, so smoke is different
msg = sensor_msgs.msg.PointCloud()
msg.header.frame_id = "THISFRAME"
msg.points = [geometry_msgs.msg.Point32(1,2,3)]
xmsg = tr.transformPointCloud("PARENT", msg)
self.assertEqual(xmsg.header.frame_id, "PARENT")
self.assertEqual(len(msg.points), len(xmsg.points))
self.assertNotEqual(msg.points[0], xmsg.points[0])
"""
Two fixed quaternions, a small twist around X concatenated.
>>> t.quaternion_from_euler(0.1, 0, 0)
array([ 0.04997917, 0. , 0. , 0.99875026])
>>> t.quaternion_from_euler(0.2, 0, 0)
array([ 0.09983342, 0. , 0. , 0.99500417])
"""
# Specific test for quaternion types
msg = geometry_msgs.msg.QuaternionStamped()
q = [ 0.04997917, 0. , 0. , 0.99875026 ]
msg.quaternion.x = q[0]
msg.quaternion.y = q[1]
msg.quaternion.z = q[2]
msg.quaternion.w = q[3]
msg.header.stamp = rospy.Time().from_sec(3.0)
msg.header.frame_id = "THISFRAME"
msg_t = tr.transformQuaternion("PARENT", msg)
self.assertEqual(msg_t.header.frame_id, "PARENT")
for a,v in zip("xyzw", [ 0.09983342, 0. , 0. , 0.99500417]):
self.assertAlmostEqual(v,
getattr(msg_t.quaternion, a),
4)
def test_transformer_wait_for_transform_dedicated_thread(self):
tr = tf.Transformer()
try:
tr.waitForTransform("PARENT", "THISFRAME", rospy.Time().from_sec(4.0), rospy.Duration(3.0))
self.assertFalse("This should throw")
except tf.Exception as ex:
print("successfully caught")
pass
def test_transformer_wait_for_transform(self):
tr = tf.Transformer()
tr.setUsingDedicatedThread(1)
try:
tr.waitForTransform("PARENT", "THISFRAME", rospy.Time().from_sec(4.0), rospy.Duration(3.0))
self.assertFalse("This should throw")
except tf.Exception as ex:
pass
m = geometry_msgs.msg.TransformStamped()
m.header.stamp = rospy.Time().from_sec(3.0)
m.header.frame_id = "PARENT"
m.child_frame_id = "THISFRAME"
m.transform.translation.y = 5.0
m.transform.rotation.x = 0.04997917
m.transform.rotation.y = 0
m.transform.rotation.z = 0
m.transform.rotation.w = 0.99875026
tr.setTransform(m)
m.header.stamp = rospy.Time().from_sec(5.0)
tr.setTransform(m)
try:
tr.waitForTransform("PARENT", "THISFRAME", rospy.Time().from_sec(4.0), rospy.Duration(3.0))
except tf.Exception as ex:
self.assertFalse("This should not throw")
def test_getTFPrefix(self):
t = tf.Transformer()
self.assertEqual(t.getTFPrefix(), "")
def disabled_random(self):
import networkx as nx
for (r,h) in [ (2,2), (2,5), (3,5) ]:
G = nx.balanced_tree(r, h)
t = tf.Transformer(True, rospy.Duration(10.0))
for n in G.nodes():
if n != 0:
# n has parent p
p = min(G.neighbors(n))
setT(t, str(p), str(n), rospy.Time(0), 1)
for n in G.nodes():
((x,_,_), _) = t.lookupTransform("0", str(n), rospy.Time(0))
self.assert_(x == nx.shortest_path_length(G, 0, n))
for i in G.nodes():
for j in G.nodes():
((x,_,_), _) = t.lookupTransform(str(i), str(j), rospy.Time())
self.assert_(abs(x) == abs(nx.shortest_path_length(G, 0, i) - nx.shortest_path_length(G, 0, j)))
if __name__ == '__main__':
rostest.unitrun('tf', 'directed', TestPython)
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