Add conversion tests

Minor fixes
ros-simulation · Aug 8, 2019 · eab66ae · eab66ae
1 parent 04802ec
commit eab66ae
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Showing 3 changed files with 19 additions and 1 deletion.
diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_pose_trajectory.hpp b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_pose_trajectory.hpp
@@ -24,6 +24,7 @@ namespace gazebo_plugins
 class GazeboRosJointPoseTrajectoryPrivate;
 
 /// Set the trajectory of points to be followed by joints in simulation.
+/// Currently only positions specified in the trajectory_msgs are handled.
 /**
   Example Usage:
   \code{.xml}

diff --git a/gazebo_plugins/worlds/gazebo_ros_joint_pose_trajectory_demo.world b/gazebo_plugins/worlds/gazebo_ros_joint_pose_trajectory_demo.world
@@ -3,7 +3,7 @@
   Gazebo ROS joint pose trajectory plugin demo
 
   Try for example:
-  ros2 topic pub /demo/set_trajectory_demo trajectory_msgs/msg/JointTrajectory
+  ros2 topic pub /demo/set_trajectory_demo trajectory_msgs/msg/JointTrajectory \
   '{header: {frame_id: world}, joint_names: {upper_joint}, points: [{positions: {-1.57}}]}'
 -->
 <sdf version="1.6">

diff --git a/gazebo_ros/test/test_conversions.cpp b/gazebo_ros/test/test_conversions.cpp
@@ -87,6 +87,11 @@ TEST(TestConversions, Time)
     auto time_msg = gazebo_ros::Convert<builtin_interfaces::msg::Time>(time);
     EXPECT_EQ(200, time_msg.sec);
     EXPECT_EQ(100u, time_msg.nanosec);
+
+    // to Gazebo time
+    auto gazebo_time = gazebo_ros::Convert<gazebo::common::Time>(time_msg);
+    EXPECT_EQ(200, gazebo_time.sec);
+    EXPECT_EQ(100, gazebo_time.nsec);
   }
 
   // Gazebo msg
@@ -100,6 +105,18 @@ TEST(TestConversions, Time)
     EXPECT_EQ(200, time_msg.sec);
     EXPECT_EQ(100u, time_msg.nanosec);
   }
+
+  // ROS Duration
+  {
+    auto duration = builtin_interfaces::msg::Duration();
+    duration.sec = 200;
+    duration.nanosec = 100u;
+
+    // to Gazebo time
+    auto gazebo_time = gazebo_ros::Convert<gazebo::common::Time>(duration);
+    EXPECT_EQ(200, gazebo_time.sec);
+    EXPECT_EQ(100, gazebo_time.nsec);
+  }
 }
 
 int main(int argc, char ** argv)