ackermann_steering_controller_nan_test.cpp
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27 
30 
31 #include "../common/include/test_common.h"
32 
33 // NaN
34 #include <limits>
35 
36 // TEST CASES
38 {
39  // wait for ROS
40  while(!isControllerAlive())
41  {
42  ros::Duration(0.1).sleep();
43  }
44  // zero everything before test
45  geometry_msgs::Twist cmd_vel;
46  cmd_vel.linear.x = 0.0;
47  cmd_vel.angular.z = 0.0;
48  publish(cmd_vel);
49  ros::Duration(2.0).sleep();
50 
51  // send a command
52  cmd_vel.linear.x = 0.1;
53  ros::Duration(2.0).sleep();
54 
55  // stop robot (will generate NaN)
56  stop();
57  ros::Duration(2.0).sleep();
58 
59  nav_msgs::Odometry odom = getLastOdom();
60 
61  EXPECT_NE(std::isnan(odom.twist.twist.linear.x), true);
62  EXPECT_NE(std::isnan(odom.twist.twist.angular.z), true);
63  EXPECT_NE(std::isnan(odom.pose.pose.position.x), true);
64  EXPECT_NE(std::isnan(odom.pose.pose.position.y), true);
65  EXPECT_NE(std::isnan(odom.pose.pose.orientation.z), true);
66  EXPECT_NE(std::isnan(odom.pose.pose.orientation.w), true);
67 
68  // start robot
69  start();
70  ros::Duration(2.0).sleep();
71 
72  odom = getLastOdom();
73 
74  EXPECT_NE(std::isnan(odom.twist.twist.linear.x), true);
75  EXPECT_NE(std::isnan(odom.twist.twist.angular.z), true);
76  EXPECT_NE(std::isnan(odom.pose.pose.position.x), true);
77  EXPECT_NE(std::isnan(odom.pose.pose.position.y), true);
78  EXPECT_NE(std::isnan(odom.pose.pose.orientation.z), true);
79  EXPECT_NE(std::isnan(odom.pose.pose.orientation.w), true);
80 }
81 
82 int main(int argc, char** argv)
83 {
84  testing::InitGoogleTest(&argc, argv);
85  ros::init(argc, argv, "ackermann_steering_controller_nan_test");
86 
88  spinner.start();
89  int ret = RUN_ALL_TESTS();
90  spinner.stop();
91  ros::shutdown();
92  return ret;
93 }
bool sleep() const
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
void spinner()
int main(int argc, char **argv)
TEST_F(AckermannSteeringControllerTest, testNaN)
ROSCPP_DECL void shutdown()


ackermann_steering_controller
Author(s): Masaru Morita
autogenerated on Thu Apr 11 2019 03:08:13