00001 00002 // Copyright (C) 2017, PAL Robotics. 00003 // 00004 // Redistribution and use in source and binary forms, with or without 00005 // modification, are permitted provided that the following conditions are met: 00006 // * Redistributions of source code must retain the above copyright notice, 00007 // this list of conditions and the following disclaimer. 00008 // * Redistributions in binary form must reproduce the above copyright 00009 // notice, this list of conditions and the following disclaimer in the 00010 // documentation and/or other materials provided with the distribution. 00011 // * Neither the name of PAL Robotics, Inc. nor the names of its 00012 // contributors may be used to endorse or promote products derived from 00013 // this software without specific prior written permission. 00014 // 00015 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00016 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00017 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00018 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00019 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00020 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00021 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00022 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00023 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00024 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00025 // POSSIBILITY OF SUCH DAMAGE. 00027 00029 00030 #include "test_common.h" 00031 00032 // TEST CASES 00033 TEST_F(DiffDriveControllerTest, testDefaultCmdVelOutTopic) 00034 { 00035 // wait for ROS 00036 while(!isControllerAlive()) 00037 { 00038 ros::Duration(0.1).sleep(); 00039 } 00040 00041 EXPECT_FALSE(isPublishingCmdVelOut()); 00042 00043 // zero everything before test 00044 geometry_msgs::Twist cmd_vel; 00045 cmd_vel.linear.x = 0.0; 00046 cmd_vel.angular.z = 0.0; 00047 publish(cmd_vel); 00048 ros::Duration(0.1).sleep(); 00049 00050 cmd_vel.linear.x = 0.1; 00051 publish(cmd_vel); 00052 ros::Duration(0.1).sleep(); 00053 00054 EXPECT_FALSE(isPublishingCmdVelOut()); 00055 } 00056 00057 int main(int argc, char** argv) 00058 { 00059 testing::InitGoogleTest(&argc, argv); 00060 ros::init(argc, argv, "diff_drive_default_cmd_vel_out_topic_test"); 00061 00062 ros::AsyncSpinner spinner(1); 00063 spinner.start(); 00064 int ret = RUN_ALL_TESTS(); 00065 spinner.stop(); 00066 ros::shutdown(); 00067 return ret; 00068 }