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));
}