four_wheel_steering_controller: four_wheel_steering_wrong

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00001 
00002 #include "test_common.h"
00003 
00004 // TEST CASES
00005 TEST_F(FourWheelSteeringControllerTest, testWrongConfig)
00006 {
00007   // The controller should be never alive
00008   int secs = 0;
00009   while(!isControllerAlive() && secs < 5)
00010   {
00011     ros::Duration(1.0).sleep();
00012     secs++;
00013   }
00014   // Give up and assume controller load failure after 5 seconds
00015   EXPECT_GE(secs,5);
00016 }
00017 
00018 
00019 int main(int argc, char** argv)
00020 {
00021   testing::InitGoogleTest(&argc, argv);
00022   ros::init(argc, argv, "four_wheel_steering_wrong_config_test");
00023 
00024   ros::AsyncSpinner spinner(1);
00025   spinner.start();
00026   int ret = RUN_ALL_TESTS();
00027   spinner.stop();
00028   ros::shutdown();
00029   return ret;
00030 }