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Add sample & test for io/concatenate_data.cpp

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Kentaro Wada 2017-08-22 18:55:46 +00:00 committed by Paul Bovbel
parent 3e5c704046
commit 419366b5f5
1 changed files with 43 additions and 0 deletions
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pcl_ros/samples/pcl_ros/io/sample_concatenate_data.launch Normal file
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<launch>
<arg name="gui" default="true" />
<!-- use voxel_grid for small cpu load in filtering -->
<include file="$(find pcl_ros)/samples/pcl_ros/filters/sample_voxel_grid.launch">
<arg name="gui" value="false" />
<arg name="test" value="false" />
<arg name="leaf_size" value="0.02" />
</include>
<node name="concatenate_data"
pkg="nodelet" type="nodelet"
args="standalone pcl/PointCloudConcatenateDataSynchronizer">
<rosparam>
output_frame: /base_link
input_topics:
- /voxel_grid/output
- /voxel_grid/output
</rosparam>
</node>
<test test-name="test_concatenate_data"
name="test_concatenate_data"
pkg="rostest" type="hztest">
<rosparam>
topic: /concatenate_data/output
hz: 10
hzerror: 8
test_duration: 5.0
</rosparam>
</test>
<!-- TODO(wkentaro): Add sample visualization
<group if="$(arg gui)">
<node name="rviz"
pkg="rviz" type="rviz"
args="-d $(find pcl_ros)/samples/pcl_ros/io/config/concatenate_data.rviz">
</node>
</group>
-->
</launch>