def test_lookup_transform(self):
buffer = tf_service.BufferClient(EXPECTED_SERVER_NAME)
self.assertTrue(buffer.wait_for_server(rospy.Duration(0.1)))
buffer.lookup_transform(EXPECTED_TARGET_FRAME, EXPECTED_SOURCE_FRAME,
rospy.Time(0), rospy.Duration(0.1))
with self.assertRaises(tf2_ros.LookupException):
buffer.lookup_transform("bla", "blub", rospy.Time(0),
rospy.Duration(0.1))
def test_can_transform(self):
buffer = tf_service.BufferClient(EXPECTED_SERVER_NAME)
self.assertTrue(buffer.wait_for_server(rospy.Duration(0.1)))
self.assertTrue(
buffer.can_transform(EXPECTED_TARGET_FRAME, EXPECTED_SOURCE_FRAME,
rospy.Time(0), rospy.Duration(0.1)))
self.assertFalse(
buffer.can_transform("bla", "blub", rospy.Time(0),
rospy.Duration(0.1)))
def test_wait_for_server_succeeds(self):
buffer = tf_service.BufferClient(EXPECTED_SERVER_NAME)
self.assertTrue(buffer.wait_for_server(rospy.Duration(0.1)))
self.assertTrue(buffer.client.is_connected())
def test_wait_for_server_fails(self):
buffer = tf_service.BufferClient("/wrong_server_name")
self.assertFalse(buffer.wait_for_server(rospy.Duration(0.1)))
self.assertFalse(buffer.client.is_connected())
import sys
import rospy
import tf2_ros
import tf_service
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--lookup_frequency", type=float, default=10)
parser.add_argument("--use_old_version", action="store_true")
args, _ = parser.parse_known_args(rospy.myargv(sys.argv)[1:])
rospy.init_node("client_test_py")
if args.use_old_version:
buffer = tf2_ros.BufferClient("/tf2_buffer_server")
else:
buffer = tf_service.BufferClient("/tf_service")
buffer.wait_for_server()
rate = rospy.Rate(args.lookup_frequency)
while not rospy.is_shutdown():
try:
buffer.lookup_transform("map", "odom", rospy.Time(0),
rospy.Duration(1))
except tf2_ros.TransformException as e:
rospy.logerr("%s: %s" % (str(type(e)), str(e)))
break
rate.sleep()