ackermann_steering_controller_timeout_test.cpp

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// Copyright (C) 2013, PAL Robotics S.L.
//
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#include "../common/include/test_common.h"

// TEST CASES
TEST_F(AckermannSteeringControllerTest, testTimeout)
{
  // wait for ROS
  while(!isControllerAlive())
  {
    ros::Duration(0.1).sleep();
  }
  // zero everything before test
  geometry_msgs::Twist cmd_vel;
  cmd_vel.linear.x = 0.0;
  cmd_vel.angular.z = 0.0;
  publish(cmd_vel);
  // give some time to the controller to react to the command
  ros::Duration(0.1).sleep();
  // get initial odom
  nav_msgs::Odometry old_odom = getLastOdom();
  // send a velocity command of 1 m/s
  cmd_vel.linear.x = 1.0;
  publish(cmd_vel);
  // wait a bit
  ros::Duration(3.0).sleep();

  nav_msgs::Odometry new_odom = getLastOdom();

  // check if the robot has stopped after 0.5s, thus covering less than 0.5s*1.0m.s-1 + some (big) tolerance
  EXPECT_LT(fabs(new_odom.pose.pose.position.x - old_odom.pose.pose.position.x), 0.8);
}

int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "ackermann_steering_controller_timeout_test");

  ros::AsyncSpinner spinner(1);
  spinner.start();
  int ret = RUN_ALL_TESTS();
  spinner.stop();
  ros::shutdown();
  return ret;
}