unload_test.cpp

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#include <gtest/gtest.h>
#include <nav_core_adapter/local_planner_adapter.h>


TEST(LocalPlannerAdapter, unload_local_planner)
{
  tf2_ros::Buffer tf;
  tf.setUsingDedicatedThread(true);

  // This empty transform is added to satisfy the constructor of
  // Costmap2DROS, which waits for the transform from map to base_link
  // to become available.
  geometry_msgs::TransformStamped base_rel_map;
  base_rel_map.child_frame_id = "/base_link";
  base_rel_map.header.frame_id = "/map";
  base_rel_map.transform.rotation.w = 1.0;
  tf.setTransform(base_rel_map, "unload", true);

  nav_core_adapter::LocalPlannerAdapter* lpa = new nav_core_adapter::LocalPlannerAdapter();

  costmap_2d::Costmap2DROS costmap_ros("local_costmap", tf);
  lpa->initialize("lpa", &tf, &costmap_ros);

  delete lpa;

  // Simple test to make sure costmap hasn't been deleted
  EXPECT_EQ("map", costmap_ros.getGlobalFrameID());
}


int main(int argc, char** argv)
{
  ros::init(argc, argv, "unload_test");
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}