Merge pull request IntelRealSense#43 from otcshare/RAR-419-test-trans…

…forms Modified testTransform to get the latest available transform
mdhorn · May 23, 2016 · c1f2770 · c1f2770
2 parents c8d0dc4 + 16ce4ec
commit c1f2770
Showing 1 changed file with 4 additions and 5 deletions.
diff --git a/camera/test/realsense_camera_test_node.cpp b/camera/test/realsense_camera_test_node.cpp
@@ -543,12 +543,11 @@ TEST (RealsenseTests, testTransforms)
 {
   // make sure all transforms are being broadcast as expected
   tf::TransformListener tf_listener;
-  ros::Duration(1).sleep();  // must listen for ~1 sec or tf won't be found
 
-  EXPECT_TRUE(tf_listener.canTransform (BASE_DEF_FRAME, DEPTH_DEF_FRAME, ros::Time::now()));
-  EXPECT_TRUE(tf_listener.canTransform (DEPTH_DEF_FRAME, DEPTH_OPTICAL_DEF_FRAME, ros::Time::now()));
-  EXPECT_TRUE(tf_listener.canTransform (BASE_DEF_FRAME, COLOR_DEF_FRAME, ros::Time::now()));
-  EXPECT_TRUE(tf_listener.canTransform (COLOR_DEF_FRAME,COLOR_OPTICAL_DEF_FRAME, ros::Time::now()));
+  EXPECT_TRUE(tf_listener.waitForTransform (DEPTH_DEF_FRAME, BASE_DEF_FRAME, ros::Time(0), ros::Duration(3.0)));
+  EXPECT_TRUE(tf_listener.waitForTransform (DEPTH_OPTICAL_DEF_FRAME, DEPTH_DEF_FRAME, ros::Time(0), ros::Duration(3.0)));
+  EXPECT_TRUE(tf_listener.waitForTransform (COLOR_DEF_FRAME, BASE_DEF_FRAME, ros::Time(0), ros::Duration(3.0)));
+  EXPECT_TRUE(tf_listener.waitForTransform (COLOR_OPTICAL_DEF_FRAME, COLOR_DEF_FRAME, ros::Time(0), ros::Duration(3.0)));
 }
 
 TEST (RealsenseTests, testCameraOptions)