test_pr2_calibration.cpp

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/* Author: Wim Meeussen */

#include <string>
#include <gtest/gtest.h>
#include <ros/ros.h>
#include <urdf/model.h>
#include <std_msgs/Bool.h>
#include <boost/thread.hpp>

namespace pr2_bringup_gazebo_demo{

int g_argc;
char** g_argv;

class TestCalibration : public testing::Test
{
public:

  TestCalibration() 
  {
    calibrated_ = false;
    ros::NodeHandle nh;
    sub_ = nh.subscribe("calibrated", 1, &TestCalibration::calCb, this);
  }
  
  ~TestCalibration() {}

  // callback
  void calCb(const std_msgs::BoolConstPtr& msg)
  {
    calibrated_ = msg->data;
  }

  volatile bool calibrated_;

private:
  ros::Subscriber sub_;
};




TEST_F(TestCalibration, test)
{
  while (ros::ok() && !this->calibrated_)
    ros::Duration(0.1).sleep();
  ASSERT_TRUE(this->calibrated_);

  SUCCEED();
}


}

int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "test_pr2_calibration");

  boost::thread spinner(boost::bind(&ros::spin));
  int res = RUN_ALL_TESTS();
  spinner.interrupt();
  spinner.join();

  return res;
}