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houyongdi
2026-07-27 13:51:19 +08:00
commit 7bec56ca51
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sensors/velodyne/velodyne_driver/tests/pcap_nodelet_hertz.test
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<!-- -*- mode: XML -*- -->
<!-- rostest of publishing a PointCloud from 64E PCAP data. -->
<launch>
<!-- start nodelet manager, driver and pointcloud nodelets -->
<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
<arg name="pcap" value="$(find velodyne_driver)/tests/class.pcap"/>
</include>
<!-- verify PointCloud publication rate -->
<test test-name="pcap_nodelet_hertz_test" pkg="rostest"
type="hztest" name="hztest_packets_nodelet_64e" >
<param name="hz" value="10.0" />
<param name="hzerror" value="3.0" />
<param name="test_duration" value="5.0" />
<param name="topic" value="velodyne_packets" />
<param name="wait_time" value="2.0" />
</test>
<test test-name="nodelet_diagnostics_test"
pkg="rostest" type="hztest" name="hztest_diag_nodelet_64e" >
<param name="hz" value="1.0" />
<param name="hzerror" value="0.5" />
<param name="test_duration" value="5.0" />
<param name="topic" value="diagnostics" />
<param name="wait_time" value="2.0" />
</test>
</launch>