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houyongdi
2026-07-27 13:51:19 +08:00
commit 7bec56ca51
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sensors/velodyne/velodyne_pointcloud/tests/two_nodelet_managers.test
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<!-- -*- mode: XML -*- -->
<!-- rostest of publishing using two different nodelet managers. -->
<launch>
<!-- use separate namespaces for each device and its nodelet manager -->
<group ns="hdl32e">
<!-- start nodelet manager, driver and cloud nodelets -->
<include file="$(find velodyne_pointcloud)/launch/32e_points.launch">
<arg name="frame_id" value="hdl32e"/>
<arg name="pcap" value="$(find velodyne_pointcloud)/tests/32e.pcap"/>
</include>
<!-- verify PointCloud2 publication rate -->
<test test-name="multi_nodelet_32e_test" pkg="rostest"
type="hztest" name="hztest_multi_nodelet_32e" >
<param name="hz" value="10.0" />
<param name="hzerror" value="3.0" />
<param name="test_duration" value="5.0" />
<param name="topic" value="/hdl32e/velodyne_points" />
<param name="wait_time" value="2.0" />
</test>
</group>
<group ns="vlp16">
<!-- start nodelet manager, driver and cloud nodelets -->
<include file="$(find velodyne_pointcloud)/launch/VLP16_points.launch">
<arg name="frame_id" value="vlp16"/>
<arg name="pcap" value="$(find velodyne_pointcloud)/tests/vlp16.pcap"/>
</include>
<!-- verify PointCloud2 publication rate -->
<test test-name="multi_nodelet_vlp16_test" pkg="rostest"
type="hztest" name="hztest_multi_nodelet_vlp16" >
<param name="hz" value="10.0" />
<param name="hzerror" value="3.0" />
<param name="test_duration" value="5.0" />
<param name="topic" value="/vlp16/velodyne_points" />
<param name="wait_time" value="2.0" />
</test>
</group>
</launch>