33 lines
1.0 KiB
XML
33 lines
1.0 KiB
XML
<!-- -*- mode: XML -*- -->
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<!-- rostest of publishing a PointCloud from PCAP data.
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Uses rostest, because a running roscore is required.
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$Id$
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-->
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<launch>
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<!-- start nodelet manager and driver nodelets -->
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<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
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<arg name="pcap" value="$(find velodyne_pointcloud)/tests/class.pcap"/>
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</include>
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<!-- start cloud nodelet using test calibration file -->
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<include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">
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<arg name="calibration"
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value="$(find velodyne_pointcloud)/params/64e_utexas.yaml"/>
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</include>
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<!-- verify PointCloud2 publication rate -->
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<test test-name="cloud_nodelet_hz_test" pkg="rostest"
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type="hztest" name="hztest_cloud_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_points" />
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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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