33 lines
931 B
Rust
33 lines
931 B
Rust
#![allow(unexpected_cfgs)] // TODO remove when rosrust is fixed
|
|
|
|
#[cfg(feature = "rosrust_msg")]
|
|
#[test]
|
|
fn convertxyz_rosrust_msg() {
|
|
use ros_pointcloud2::{points::PointXYZ, PointCloud2Msg};
|
|
|
|
let cloud = vec![
|
|
PointXYZ {
|
|
x: 1.0,
|
|
y: 2.0,
|
|
z: 3.0,
|
|
},
|
|
PointXYZ {
|
|
x: 4.0,
|
|
y: 5.0,
|
|
z: 6.0,
|
|
},
|
|
PointXYZ {
|
|
x: 7.0,
|
|
y: 8.0,
|
|
z: 9.0,
|
|
},
|
|
];
|
|
let copy = cloud.clone();
|
|
let internal_cloud = PointCloud2Msg::try_from_iter(cloud).unwrap();
|
|
let rosrust_msg_cloud: rosrust_msg::sensor_msgs::PointCloud2 = internal_cloud.into();
|
|
let convert_back_internal: PointCloud2Msg = rosrust_msg_cloud.into();
|
|
let to_convert = convert_back_internal.try_into_iter().unwrap();
|
|
let back_to_type = to_convert.collect::<Vec<PointXYZ>>();
|
|
assert_eq!(copy, back_to_type);
|
|
}
|