112 lines
3.4 KiB
C++
Executable File
112 lines
3.4 KiB
C++
Executable File
/*
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* Copyright (c) 2014, Open Source Robotics Foundation
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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 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 copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* 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 "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN 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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#include <gtest/gtest.h>
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#include <thread>
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#include <chrono>
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#include <tf2_ros/transform_broadcaster.h>
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#include <tf2_ros/transform_listener.h>
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#include <rosgraph_msgs/Clock.h>
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using namespace tf2;
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void spin_for_a_second()
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{
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ros::spinOnce();
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for (uint8_t i = 0; i < 10; ++i)
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{
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std::this_thread::sleep_for(std::chrono::milliseconds(100));
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ros::spinOnce();
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}
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}
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TEST(tf2_ros_transform_listener, time_backwards)
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{
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tf2_ros::Buffer buffer;
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tf2_ros::TransformListener tfl(buffer);
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tf2_ros::TransformBroadcaster tfb;
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ros::NodeHandle nh = ros::NodeHandle();
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ros::Publisher clock = nh.advertise<rosgraph_msgs::Clock>("/clock", 5);
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rosgraph_msgs::Clock c;
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c.clock = ros::Time(100);
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clock.publish(c);
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// basic test
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ASSERT_FALSE(buffer.canTransform("foo", "bar", ros::Time(101, 0)));
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// set the transform
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geometry_msgs::TransformStamped msg;
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msg.header.stamp = ros::Time(100, 0);
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msg.header.frame_id = "foo";
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msg.child_frame_id = "bar";
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msg.transform.rotation.x = 1.0;
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tfb.sendTransform(msg);
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msg.header.stamp = ros::Time(102, 0);
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tfb.sendTransform(msg);
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// make sure it arrives
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spin_for_a_second();
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// verify it's been set
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ASSERT_TRUE(buffer.canTransform("foo", "bar", ros::Time(101, 0)));
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c.clock = ros::Time(90);
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clock.publish(c);
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// make sure it arrives
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spin_for_a_second();
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//Send another message to trigger clock test on an unrelated frame
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msg.header.stamp = ros::Time(110, 0);
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msg.header.frame_id = "foo2";
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msg.child_frame_id = "bar2";
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tfb.sendTransform(msg);
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// make sure it arrives
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spin_for_a_second();
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//verify the data's been cleared
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ASSERT_FALSE(buffer.canTransform("foo", "bar", ros::Time(101, 0)));
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}
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int main(int argc, char **argv){
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testing::InitGoogleTest(&argc, argv);
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ros::init(argc, argv, "transform_listener_backwards_reset");
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return RUN_ALL_TESTS();
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}
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