31 lines
1.1 KiB
XML
31 lines
1.1 KiB
XML
<!-- -*- mode: XML -*- -->
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<!-- rostest of publishing a PointCloud from 64E PCAP data. -->
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<launch>
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<!-- start nodelet manager, driver and pointcloud nodelets -->
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<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
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<arg name="pcap" value="$(find velodyne_driver)/tests/class.pcap"/>
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</include>
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<!-- verify PointCloud publication rate -->
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<test test-name="pcap_nodelet_hertz_test" pkg="rostest"
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type="hztest" name="hztest_packets_nodelet_64e" >
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<param name="hz" value="10.0" />
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<param name="hzerror" value="3.0" />
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<param name="test_duration" value="5.0" />
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<param name="topic" value="velodyne_packets" />
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<param name="wait_time" value="2.0" />
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</test>
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<test test-name="nodelet_diagnostics_test"
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pkg="rostest" type="hztest" name="hztest_diag_nodelet_64e" >
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<param name="hz" value="1.0" />
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<param name="hzerror" value="0.5" />
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<param name="test_duration" value="5.0" />
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<param name="topic" value="diagnostics" />
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<param name="wait_time" value="2.0" />
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</test>
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</launch>
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