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/*
* Copyright (c) 2014, Open Source Robotics Foundation
* 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 <gtest/gtest.h>
#include <thread>
#include <chrono>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2_ros/transform_listener.h>
#include <rosgraph_msgs/Clock.h>
using namespace tf2;
void spin_for_a_second()
{
ros::spinOnce();
for (uint8_t i = 0; i < 10; ++i)
{
std::this_thread::sleep_for(std::chrono::milliseconds(100));
ros::spinOnce();
}
}
TEST(tf2_ros_transform_listener, time_backwards)
{
tf2_ros::Buffer buffer;
tf2_ros::TransformListener tfl(buffer);
tf2_ros::TransformBroadcaster tfb;
ros::NodeHandle nh = ros::NodeHandle();
ros::Publisher clock = nh.advertise<rosgraph_msgs::Clock>("/clock", 5);
rosgraph_msgs::Clock c;
c.clock = ros::Time(100);
clock.publish(c);
// basic test
ASSERT_FALSE(buffer.canTransform("foo", "bar", ros::Time(101, 0)));
// set the transform
geometry_msgs::TransformStamped msg;
msg.header.stamp = ros::Time(100, 0);
msg.header.frame_id = "foo";
msg.child_frame_id = "bar";
msg.transform.rotation.x = 1.0;
tfb.sendTransform(msg);
msg.header.stamp = ros::Time(102, 0);
tfb.sendTransform(msg);
// make sure it arrives
spin_for_a_second();
// verify it's been set
ASSERT_TRUE(buffer.canTransform("foo", "bar", ros::Time(101, 0)));
c.clock = ros::Time(90);
clock.publish(c);
// make sure it arrives
spin_for_a_second();
//Send another message to trigger clock test on an unrelated frame
msg.header.stamp = ros::Time(110, 0);
msg.header.frame_id = "foo2";
msg.child_frame_id = "bar2";
tfb.sendTransform(msg);
// make sure it arrives
spin_for_a_second();
//verify the data's been cleared
ASSERT_FALSE(buffer.canTransform("foo", "bar", ros::Time(105, 0)));
}
int main(int argc, char **argv){
testing::InitGoogleTest(&argc, argv);
ros::init(argc, argv, "transform_listener_backwards_reset");
return RUN_ALL_TESTS();
}
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