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)