unload_test.cpp
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34 #include <gtest/gtest.h>
36 
37 
38 TEST(LocalPlannerAdapter, unload_local_planner)
39 {
41  // This empty transform is added to satisfy the constructor of
42  // Costmap2DROS, which waits for the transform from map to base_link
43  // to become available.
44  tf::StampedTransform base_rel_map;
45  base_rel_map.child_frame_id_ = "/base_link";
46  base_rel_map.frame_id_ = "/map";
47  base_rel_map.stamp_ = ros::Time::now();
48  base_rel_map.setIdentity();
49  tf.setTransform(base_rel_map);
50 
52 
53  costmap_2d::Costmap2DROS costmap_ros("local_costmap", tf);
54  lpa->initialize("lpa", &tf, &costmap_ros);
55 
56  delete lpa;
57 
58  // Simple test to make sure costmap hasn't been deleted
59  EXPECT_EQ("map", costmap_ros.getGlobalFrameID());
60 }
61 
62 
63 int main(int argc, char** argv)
64 {
65  ros::init(argc, argv, "unload_test");
66  testing::InitGoogleTest(&argc, argv);
67  return RUN_ALL_TESTS();
68 }
int main(int argc, char **argv)
Definition: unload_test.cpp:63
std::string getGlobalFrameID()
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
bool setTransform(const StampedTransform &transform, const std::string &authority="default_authority")
void setIdentity()
std::string child_frame_id_
used for employing a nav_core2 local planner (such as dwb) as a nav_core plugin, like in move_base...
TEST(LocalPlannerAdapter, unload_local_planner)
Definition: unload_test.cpp:38
static Time now()
void initialize(std::string name, tf::TransformListener *tf, costmap_2d::Costmap2DROS *costmap_ros) override
Load the nav_core2 local planner and initialize it.
std::string frame_id_


nav_core_adapter
Author(s):
autogenerated on Sun Jan 10 2021 04:08:46