[Personalrobots-commit] SF.net SVN: personalrobots:[4248] pkg/trunk

[<hsu...@us...>]

Revision: 4248
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=4248&view=rev
Author:   hsujohnhsu
Date:     2008-09-12 20:11:33 +0000 (Fri, 12 Sep 2008)

Log Message:
-----------
migrate tests to trex and gazebo_plugin from rosgazebo.

Added Paths:
-----------
    pkg/trunk/drivers/simulator/gazebo_plugin/test/
    pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/groundtruthtransform.cpp

Removed Paths:
-------------
    pkg/trunk/drivers/simulator/gazebo_plugin/test/groundtruthtransform.cpp

Deleted: pkg/trunk/drivers/simulator/gazebo_plugin/test/groundtruthtransform.cpp
===================================================================
--- pkg/trunk/simulators/rosgazebo/test/groundtruthtransform.cpp	2008-09-08 16:14:19 UTC (rev 4033)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/test/groundtruthtransform.cpp	2008-09-12 20:11:33 UTC (rev 4248)
@@ -1,83 +0,0 @@
-
-#include "ros/node.h"
-#include "std_msgs/Point3DFloat32.h"
-#include <rosTF/rosTF.h>
-
-using std::string;
-
-/**
- * This is a hack to get the position of the robot. TfPy is not here yet, so this is just to get the tests working.
- */
-class GroundTruthTransform : public ros::node {
-public:
-  std_msgs::Point3DFloat32 msg;
-  rosTFClient tf;
-
-  GroundTruthTransform() : ros::node("GroundTruthTransform"), tf(*this, false) {
-    advertise<std_msgs::Point3DFloat32>("groundtruthposition");
-  }
-
-  void speak() {
-    libTF::TFPose robotPose, global_pose;
-    robotPose.x = 0;
-    robotPose.y = 0;
-    robotPose.z = 0;
-    robotPose.yaw = 0;
-    robotPose.pitch = 0;
-    robotPose.roll = 0;
-    robotPose.time = 0;
-    try {
-      robotPose.frame = "FRAMEID_ROBOT";
-    } catch(libTF::TransformReference::LookupException& ex) {
-      std::cerr << "LookupException in lookup(\"FRAMEID_ROBOT\"): " << ex.what() << "\n";
-      std::cout << "LookupException in lookup(\"FRAMEID_ROBOT\"): " << ex.what();
-      return;
-    } catch(libTF::TransformReference::ExtrapolateException& ex) {
-      std::cerr << "ExtrapolateException in lookup(\"FRAMEID_ROBOT\"): " << ex.what() << "\n";
-      std::cout << "ExtrapolateException in lookup(\"FRAMEID_ROBOT\"): " << ex.what();
-      return;
-    } catch(libTF::TransformReference::ConnectivityException& ex) {
-      std::cerr << "ConnectivityException in lookup(\"FRAMEID_ROBOT\"): " << ex.what() << "\n";
-      std::cout << "ConnectivityException in lookup(\"FRAMEID_ROBOT\"): " << ex.what();
-      return;
-    }
-
-
-    try {
-      global_pose = this->tf.transformPose("FRAMEID_ODOM", robotPose);
-    } catch(libTF::TransformReference::LookupException& ex) {
-      std::cerr << tf.viewFrames();
-      std::cerr << "LookupException in transformPose(\"FRAMEID_ODOM\", robotPose): " << ex.what() << "\n";
-      std::cout << "LookupException in transformPose(\"FRAMEID_ODOM\", robotPose): " << ex.what();
-      return;
-    } catch(libTF::TransformReference::ExtrapolateException& ex) {
-      std::cerr << "ExtrapolateException in transformPose(\"FRAMEID_ODOM\", robotPose): " << ex.what() << "\n";
-      std::cout << "ExtrapolateException in transformPose(\"FRAMEID_ODOM\", robotPose): " << ex.what();
-      return;
-    } catch(libTF::TransformReference::ConnectivityException& ex) {
-      std::cerr << "ConnectivityException in transformPose(\"FRAMEID_ODOM\", robotPose): " << ex.what() << "\n";
-      std::cout << "ConnectivityException in transformPose(\"FRAMEID_ODOM\", robotPose): " << ex.what();
-      return;
-    }
-    msg.x = global_pose.x;
-    msg.y = global_pose.y;
-    msg.z = global_pose.z;
-    std::cout << msg.x << ", " << msg.y << ", " << msg.z;
-    publish("groundtruthposition", msg);
-  }
-};
-
-int main(int argc, char **argv) {
-  ros::init(argc, argv);
-  std::cout << "Starting...\n";
-  GroundTruthTransform t;
-  while (t.ok())
-  {
-    usleep(100000);
-    std::cout << "Transform: ";
-    t.speak();
-    std::cout << std::endl;
-  }
-  ros::fini();
-  return 0;
-}

Copied: pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/groundtruthtransform.cpp (from rev 4033, pkg/trunk/simulators/rosgazebo/test/groundtruthtransform.cpp)
===================================================================
--- pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/groundtruthtransform.cpp	                        (rev 0)
+++ pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/groundtruthtransform.cpp	2008-09-12 20:11:33 UTC (rev 4248)
@@ -0,0 +1,83 @@
+
+#include "ros/node.h"
+#include "std_msgs/Point3DFloat32.h"
+#include <rosTF/rosTF.h>
+
+using std::string;
+
+/**
+ * This is a hack to get the position of the robot. TfPy is not here yet, so this is just to get the tests working.
+ */
+class GroundTruthTransform : public ros::node {
+public:
+  std_msgs::Point3DFloat32 msg;
+  rosTFClient tf;
+
+  GroundTruthTransform() : ros::node("GroundTruthTransform"), tf(*this, false) {
+    advertise<std_msgs::Point3DFloat32>("groundtruthposition");
+  }
+
+  void speak() {
+    libTF::TFPose robotPose, global_pose;
+    robotPose.x = 0;
+    robotPose.y = 0;
+    robotPose.z = 0;
+    robotPose.yaw = 0;
+    robotPose.pitch = 0;
+    robotPose.roll = 0;
+    robotPose.time = 0;
+    try {
+      robotPose.frame = "FRAMEID_ROBOT";
+    } catch(libTF::TransformReference::LookupException& ex) {
+      std::cerr << "LookupException in lookup(\"FRAMEID_ROBOT\"): " << ex.what() << "\n";
+      std::cout << "LookupException in lookup(\"FRAMEID_ROBOT\"): " << ex.what();
+      return;
+    } catch(libTF::TransformReference::ExtrapolateException& ex) {
+      std::cerr << "ExtrapolateException in lookup(\"FRAMEID_ROBOT\"): " << ex.what() << "\n";
+      std::cout << "ExtrapolateException in lookup(\"FRAMEID_ROBOT\"): " << ex.what();
+      return;
+    } catch(libTF::TransformReference::ConnectivityException& ex) {
+      std::cerr << "ConnectivityException in lookup(\"FRAMEID_ROBOT\"): " << ex.what() << "\n";
+      std::cout << "ConnectivityException in lookup(\"FRAMEID_ROBOT\"): " << ex.what();
+      return;
+    }
+
+
+    try {
+      global_pose = this->tf.transformPose("FRAMEID_ODOM", robotPose);
+    } catch(libTF::TransformReference::LookupException& ex) {
+      std::cerr << tf.viewFrames();
+      std::cerr << "LookupException in transformPose(\"FRAMEID_ODOM\", robotPose): " << ex.what() << "\n";
+      std::cout << "LookupException in transformPose(\"FRAMEID_ODOM\", robotPose): " << ex.what();
+      return;
+    } catch(libTF::TransformReference::ExtrapolateException& ex) {
+      std::cerr << "ExtrapolateException in transformPose(\"FRAMEID_ODOM\", robotPose): " << ex.what() << "\n";
+      std::cout << "ExtrapolateException in transformPose(\"FRAMEID_ODOM\", robotPose): " << ex.what();
+      return;
+    } catch(libTF::TransformReference::ConnectivityException& ex) {
+      std::cerr << "ConnectivityException in transformPose(\"FRAMEID_ODOM\", robotPose): " << ex.what() << "\n";
+      std::cout << "ConnectivityException in transformPose(\"FRAMEID_ODOM\", robotPose): " << ex.what();
+      return;
+    }
+    msg.x = global_pose.x;
+    msg.y = global_pose.y;
+    msg.z = global_pose.z;
+    std::cout << msg.x << ", " << msg.y << ", " << msg.z;
+    publish("groundtruthposition", msg);
+  }
+};
+
+int main(int argc, char **argv) {
+  ros::init(argc, argv);
+  std::cout << "Starting...\n";
+  GroundTruthTransform t;
+  while (t.ok())
+  {
+    usleep(100000);
+    std::cout << "Transform: ";
+    t.speak();
+    std::cout << std::endl;
+  }
+  ros::fini();
+  return 0;
+}


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