diff_drive_odom_tf_test.cpp
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1 // Copyright (C) 2014, PAL Robotics S.L.
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27 
29 
30 #include "test_common.h"
31 #include <tf/transform_listener.h>
32 
33 // TEST CASES
35 {
36  // wait for ROS
37  while(!isControllerAlive())
38  {
39  ros::Duration(0.1).sleep();
40  }
41  // set up tf listener
42  tf::TransformListener listener;
43  ros::Duration(2.0).sleep();
44  // check the odom frame doesn't exist
45  EXPECT_FALSE(listener.frameExists("odom"));
46 }
47 
48 int main(int argc, char** argv)
49 {
50  testing::InitGoogleTest(&argc, argv);
51  ros::init(argc, argv, "diff_drive_odom_tf_test");
52 
54  spinner.start();
55  int ret = RUN_ALL_TESTS();
56  spinner.stop();
57  ros::shutdown();
58  return ret;
59 }
bool sleep() const
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
void spinner()
ROSCPP_DECL void shutdown()
int main(int argc, char **argv)
TEST_F(DiffDriveControllerTest, testNoOdomFrame)
bool frameExists(const std::string &frame_id_str) const


diff_drive_controller
Author(s): Bence Magyar
autogenerated on Sat Apr 18 2020 03:58:05