rebase

src/geometry2/test_tf2/test/test_static_publisher.py

@@ -1,95 +0,0 @@
-#! /usr/bin/env python
-#***********************************************************
-#* Software License Agreement (BSD License)
-#*
-#*  Copyright (c) 2016, Felix Duvallet
-#*  All rights reserved.
-#*
-#*  Redistribution and use in source and binary forms, with or without
-#*  modification, are permitted provided that the following conditions
-#*  are met:
-#*
-#*   * Redistributions of source code must retain the above copyright
-#*     notice, this list of conditions and the following disclaimer.
-#*   * Redistributions in binary form must reproduce the above
-#*     copyright notice, this list of conditions and the following
-#*     disclaimer in the documentation and/or other materials provided
-#*     with the distribution.
-#*   * Neither the name of Willow Garage, Inc. nor the names of its
-#*     contributors may be used to endorse or promote products derived
-#*     from this software without specific prior written permission.
-#*
-#*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-#*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-#*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-#*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-#*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-#*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-#*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-#*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-#*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-#*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-#*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-#*  POSSIBILITY OF SUCH DAMAGE.
-#* 
-#* Author: Felix Duvallet
-#***********************************************************
-
-import subprocess
-import unittest
-
-import rospy
-PKG = 'test_tf2'
-
-
-class TestStaticPublisher(unittest.TestCase):
-    """
-    These tests ensure the static transform publisher dies gracefully when
-    provided with an invalid (or non-existent) transform parameter.
-
-    These tests are started by the static_publisher.launch, which loads
-    parameters into the param server.
-
-    We check the output to make sure the correct error is occurring, since the
-    return code is always -1 (255).
-
-    Note that this *could* cause a problem if a valid TF is stored in the param
-    server for one of the names; in this case the subprocess would never return
-    and the test would run forever.
-    """
-
-    def test_publisher_no_args(self):
-        # Start the publisher with no argument.
-        cmd = 'rosrun tf2_ros static_transform_publisher'
-        with self.assertRaises(subprocess.CalledProcessError) as cm:
-            ret = subprocess.check_output(
-                cmd.split(' '), stderr=subprocess.STDOUT)
-        self.assertEqual(255, cm.exception.returncode)
-        self.assertIn('not having the right number of arguments',
-                      cm.exception.output)
-
-    def test_publisher_nonexistent_param(self):
-        # Here there is no paramater by that name.
-        cmd = 'rosrun tf2_ros static_transform_publisher /test_tf2/tf_null'
-        with self.assertRaises(subprocess.CalledProcessError) as cm:
-            ret = subprocess.check_output(
-                cmd.split(' '), stderr=subprocess.STDOUT)
-
-        self.assertEqual(255, cm.exception.returncode)
-        self.assertIn('Could not read TF', cm.exception.output)
-
-    def test_publisher_invalid_param(self):
-        # Here there is an invalid parameter stored in the parameter server.
-        cmd = 'rosrun tf2_ros static_transform_publisher /test_tf2/tf_invalid'
-        with self.assertRaises(subprocess.CalledProcessError) as cm:
-            ret = subprocess.check_output(
-                cmd.split(' '), stderr=subprocess.STDOUT)
-
-        self.assertEqual(255, cm.exception.returncode)
-        self.assertIn('Could not validate XmlRpcC', cm.exception.output)
-
-
-if __name__ == '__main__':
-    rospy.init_node("test_static_publisher_py")
-    import rostest
-    rostest.rosrun(PKG, 'test_static_publisher_py', TestStaticPublisher)