public void TestTransformStampedMessage() { Assert.True(BuiltIns.GetMessageType <MyTransformStamped>() == MyTransformStamped.RosMessageType); Assert.True(BuiltIns.GetMd5Sum <MyTransformStamped>() == BuiltIns.GetMd5Sum <TransformStamped>()); time now = time.Now(); TransformStamped real = new TransformStamped() { Header = new Header(1, now, "Frame"), ChildFrameId = "Abcd", Transform = Transform.Identity }; MyTransformStamped wrapped = new MyTransformStamped() { Header = new Header(1, now, "Frame"), ChildFrameId = "Abcd", Transform = Transform.Identity }; byte[] messageBytes = real.SerializeToArray(); byte[] otherMessageBytes = wrapped.SerializeToArray(); Assert.True(messageBytes.SequenceEqual(otherMessageBytes)); var otherWrapped = wrapped.DeserializeFromArray(messageBytes); Assert.True(wrapped.Header == real.Header); Assert.True(wrapped.ChildFrameId == real.ChildFrameId); Assert.True(wrapped.Transform == real.Transform); }
public void TestDynamicMessageWithDependencies() { const string fullDependencies = @" Header header string child_frame_id # the frame id of the child frame geometry_msgs/Transform transform ================================================================================ MSG: std_msgs/Header uint32 seq time stamp string frame_id ================================================================================ MSG: geometry_msgs/Transform Vector3 translation Quaternion rotation ================================================================================ MSG: geometry_msgs/Vector3 float64 x float64 y float64 z ================================================================================ MSG: geometry_msgs/Quaternion float64 x float64 y float64 z float64 w "; DynamicMessage message = DynamicMessage.CreateFromDependencyString("iviz_test/TransformStamped", fullDependencies); var realTransformStamped = new TransformStamped(); Assert.True(message.RosInstanceMd5Sum == TransformStamped.RosMd5Sum); Assert.True(message.RosMessageLength == realTransformStamped.RosMessageLength); byte[] messageBytes = message.SerializeToArray(); byte[] otherMessageBytes = realTransformStamped.SerializeToArray(); Assert.True(messageBytes.SequenceEqual(otherMessageBytes)); }