test_main.cpp

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#include <gtest/gtest.h>
#include <ros/ros.h>

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

  ros::AsyncSpinner spinner(4);
  spinner.start();
  int ret = RUN_ALL_TESTS();
  spinner.stop();
  ros::shutdown();
  return ret;
}