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houyongdi
2026-07-27 13:51:19 +08:00
commit 7bec56ca51
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sensors/velodyne/velodyne_pointcloud/tests/cloud_node_hz.test
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<!-- -*- mode: XML -*- -->
<!-- rostest of reading Velodyne 64E PCAP files -->
<launch>
<!-- start driver with example PCAP file -->
<node pkg="velodyne_driver" type="velodyne_node" name="velodyne_node">
<param name="pcap" value="$(find velodyne_pointcloud)/tests/class.pcap"/>
</node>
<!-- start cloud node with test calibration file -->
<node pkg="velodyne_pointcloud" type="cloud_node" name="cloud_node">
<param name="calibration"
value="$(find velodyne_pointcloud)/params/64e_utexas.yaml"/>
</node>
<!-- verify PointCloud2 publication rate -->
<test test-name="cloud_node_hz_test" pkg="rostest"
type="hztest" name="hztest_cloud_node_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_points" />
<param name="wait_time" value="2.0" />
</test>
</launch>