Merge pull request #138 from T045T/test_simplified_urdf

test the visual Urdf elements

Author: rctoris

test/urdf.test.js

@@ -7,10 +7,37 @@ var XPATH_FIRST_ORDERED_NODE_TYPE = 9;
 
 var sample_urdf = function (){
   return '<robot name="test_robot">' +
-    '  <link name="link1" />'+
-    '  <link name="link2" />'+
-    '  <link name="link3" />'+
-    '  <link name="link4" />'+
+    '  <link name="link1">'+ // test well-behaved versions of the basic shapes
+    '    <visual>'+
+    '      <geometry>'+
+    '        <sphere radius="1" />'+
+    '      </geometry>'+
+    '    </visual>'+
+    '  </link>'+
+    '  <link name="link2">'+
+    '    <visual>'+
+    '      <geometry>'+
+    '        <box size="0.5 0.5 0.5" />'+
+    '      </geometry>'+
+    '    </visual>'+
+    '  </link>'+
+    '  <link name="link3">'+
+    '    <visual>'+
+    '      <geometry>'+
+    '        <cylinder radius="0.2" length="2" />'+
+    '      </geometry>'+
+    '    </visual>'+
+    '  </link>'+
+    '  <link name="link4">'+ // and an extra one with a material
+    '    <visual>'+
+    '      <geometry>'+
+    '        <box size="1 1 1" />'+
+    '      </geometry>'+
+    '      <material name="red">'+
+    '        <color rgba="1 0 0 1" />'+
+    '      </material>'+
+    '    </visual>'+
+    '  </link>'+
     '  <joint name="joint1" type="continuous">'+
     '    <parent link="link1"/>'+
     '    <child link="link2"/>'+
@@ -38,6 +65,26 @@ describe('URDF', function() {
       expect(urdfModel.name).to.equal('test_robot');
     });
 
+    it('should correctly construct visual elements', function() {
+      var urdfModel = new ROSLIB.UrdfModel({
+        string: sample_urdf()
+      });
+
+      // Check all the visual elements
+      expect(urdfModel.links['link1'].visual.geometry.radius).to.equal(1.0);
+      expect(urdfModel.links['link2'].visual.geometry.dimension.x).to.equal(0.5);
+      expect(urdfModel.links['link2'].visual.geometry.dimension.y).to.equal(0.5);
+      expect(urdfModel.links['link2'].visual.geometry.dimension.z).to.equal(0.5);
+      expect(urdfModel.links['link3'].visual.geometry.length).to.equal(2.0);
+      expect(urdfModel.links['link3'].visual.geometry.radius).to.equal(0.2);
+
+      expect(urdfModel.links['link4'].visual.material.name).to.equal('red');
+      expect(urdfModel.links['link4'].visual.material.color.r).to.equal(1.0);
+      expect(urdfModel.links['link4'].visual.material.color.g).to.equal(0);
+      expect(urdfModel.links['link4'].visual.material.color.b).to.equal(0);
+      expect(urdfModel.links['link4'].visual.material.color.a).to.equal(1.0);
+    });
+
     it('is ignorant to the xml node', function(){
       var parser = new DOMParser();
       var xml = parser.parseFromString(sample_urdf(), 'text/xml');