def test_lookup_transform_fail(self):
buffer_client = BufferClient(
self.node, 'lookup_transform', check_frequency=10.0, timeout_padding=0.0)
with self.assertRaises(LookupException) as ex:
result = buffer_client.lookup_transform(
'bar', 'baz', rclpy.time.Time(), rclpy.duration.Duration(seconds=5.0))
self.assertEqual(LookupException, type(ex.exception))
def test_lookup_transform_true(self):
buffer_client = BufferClient(
self.node, 'lookup_transform', check_frequency=10.0, timeout_padding=0.0)
result = buffer_client.lookup_transform(
'foo', 'bar', rclpy.time.Time(), rclpy.duration.Duration(seconds=5.0))
self.assertEqual(build_transform(
'foo', 'bar', rclpy.time.Time().to_msg()), result)