unload_test.cpp

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#include <gtest/gtest.h>
#include <nav_core_adapter/local_planner_adapter.h>


TEST(LocalPlannerAdapter, unload_local_planner)
{
  tf::TransformListener tf(ros::Duration(10));
  // This empty transform is added to satisfy the constructor of
  // Costmap2DROS, which waits for the transform from map to base_link
  // to become available.
  tf::StampedTransform base_rel_map;
  base_rel_map.child_frame_id_ = "/base_link";
  base_rel_map.frame_id_ = "/map";
  base_rel_map.stamp_ = ros::Time::now();
  base_rel_map.setIdentity();
  tf.setTransform(base_rel_map);

  nav_core_adapter::LocalPlannerAdapter* lpa = new nav_core_adapter::LocalPlannerAdapter();

  costmap_2d::Costmap2DROS costmap_ros("local_costmap", tf);
  lpa->initialize("lpa", &tf, &costmap_ros);

  delete lpa;

  // Simple test to make sure costmap hasn't been deleted
  EXPECT_EQ("map", costmap_ros.getGlobalFrameID());
}


int main(int argc, char** argv)
{
  ros::init(argc, argv, "unload_test");
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}