test_xacro Namespace Reference

Functions
None	test_base_xacro_expands (ET.Element urdf_root)
None	test_wheel_macro_instantiation (ET.Element urdf_root)
None	test_sensor_xacros_expand (ET.Element urdf_root)
None	test_wheel_joints_are_continuous (ET.Element urdf_root)
None	test_caster_joints_are_fixed (ET.Element urdf_root)

Detailed Description

@brief Integration tests that validate individual xacro file inclusion and macro expansion.

Verifies that base, wheel, and sensor xacros are correctly included and
that the resulting joints have the expected types.

Function Documentation

test_base_xacro_expands()

None test_xacro.test_base_xacro_expands

(

ET.Element

urdf_root

)

@brief Test that base.xacro is included and expands.

test_caster_joints_are_fixed()

None test_xacro.test_caster_joints_are_fixed

(

ET.Element

urdf_root

)

@brief Test that caster joints are fixed type.

test_sensor_xacros_expand()

None test_xacro.test_sensor_xacros_expand

(

ET.Element

urdf_root

)

@brief Test that sensor xacro files are included.

test_wheel_joints_are_continuous()

None test_xacro.test_wheel_joints_are_continuous

(

ET.Element

urdf_root

)

@brief Test that wheel joints are continuous type.

test_wheel_macro_instantiation()

None test_xacro.test_wheel_macro_instantiation

(

ET.Element

urdf_root

)

@brief Test that the wheel macro is instantiated for left and right.