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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Wim Meeussen */ 00036 00037 #include <string> 00038 #include <gtest/gtest.h> 00039 #include "ros/ros.h" 00040 #include "nav_msgs/Odometry.h" 00041 #include "geometry_msgs/PoseWithCovarianceStamped.h" 00042 00043 #include <boost/thread.hpp> 00044 00045 using namespace ros; 00046 00047 00048 int g_argc; 00049 char** g_argv; 00050 00051 typedef boost::shared_ptr<geometry_msgs::PoseWithCovarianceStamped const> EkfConstPtr; 00052 00053 class TestEKF : public testing::Test 00054 { 00055 public: 00056 NodeHandle node_; 00057 ros::Subscriber ekf_sub_; 00058 double ekf_counter_; 00059 00060 00061 void EKFCallback(const EkfConstPtr& ekf) 00062 { 00063 // count number of callbacks 00064 ekf_counter_++; 00065 } 00066 00067 00068 protected: 00070 TestEKF() 00071 { 00072 ekf_counter_ = 0; 00073 00074 } 00075 00076 00078 ~TestEKF() 00079 { 00080 } 00081 }; 00082 00083 00084 00085 00086 TEST_F(TestEKF, test) 00087 { 00088 ROS_INFO("Subscribing to robot_pose_ekf/odom_combined"); 00089 ekf_sub_ = node_.subscribe("/robot_pose_ekf/odom_combined", 10, &TestEKF::EKFCallback, (TestEKF*)this); 00090 00091 // wait for 20 seconds 00092 ROS_INFO("Waiting for 20 seconds while bag is playing"); 00093 ros::Duration(20).sleep(); 00094 ROS_INFO("End time reached"); 00095 00096 EXPECT_EQ(ekf_counter_, 0); 00097 00098 SUCCEED(); 00099 } 00100 00101 00102 00103 00104 int main(int argc, char** argv) 00105 { 00106 testing::InitGoogleTest(&argc, argv); 00107 g_argc = argc; 00108 g_argv = argv; 00109 00110 init(g_argc, g_argv, "testEKF"); 00111 00112 boost::thread spinner(boost::bind(&ros::spin)); 00113 00114 int res = RUN_ALL_TESTS(); 00115 spinner.interrupt(); 00116 spinner.join(); 00117 00118 return res; 00119 }