test_safety_limiter2.cpp

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/*
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#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <sensor_msgs/PointCloud2.h>

#include <algorithm>
#include <string>

#include <gtest/gtest.h>

#include <test_safety_limiter_base.h>

TEST_F(SafetyLimiterTest, SafetyLimitLinearSimpleSimulationWithMargin)
{
  const float dt = 0.02;
  ros::Rate wait(1.0 / dt);

  const float velocities[] =
      {
        -0.8, -0.4, 0.4, 0.8
      };
  for (const float vel : velocities)
  {
    float x = 0;
    bool stop = false;
    const boost::function<void(const geometry_msgs::Twist::ConstPtr&)> cb_cmd_vel =
        [dt, &x, &stop](const geometry_msgs::Twist::ConstPtr& msg) -> void
    {
      if (std::abs(msg->linear.x) < 1e-4 && x > 0.5)
        stop = true;

      x += dt * msg->linear.x;
    };
    ros::Subscriber sub_cmd_vel = nh_.subscribe("cmd_vel", 1, cb_cmd_vel);

    for (int i = 0; i < lround(10.0 / dt) && ros::ok() && !stop; ++i)
    {
      if (vel > 0)
        publishSinglePointPointcloud2(1.0 - x, 0, 0, "base_link", ros::Time::now());
      else
        publishSinglePointPointcloud2(-3.0 - x, 0, 0, "base_link", ros::Time::now());
      publishWatchdogReset();
      publishTwist(vel, 0.0);

      wait.sleep();
      ros::spinOnce();
    }
    // margin is set to 0.2
    if (vel > 0)
    {
      EXPECT_GT(0.81, x);
      EXPECT_LT(0.75, x);
    }
    else
    {
      EXPECT_LT(-0.81, x);
      EXPECT_GT(-0.75, x);
    }
    sub_cmd_vel.shutdown();
  }
}

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

  return RUN_ALL_TESTS();
}