steer_drive_controller_nan_test.cpp

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// Copyright (C) 2014, PAL Robotics S.L.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
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//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above copyright
//     notice, this list of conditions and the following disclaimer in the
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//   * Neither the name of PAL Robotics, Inc. nor the names of its
//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include "../common/include/test_common.h"

// NaN
#include <limits>

// TEST CASES
TEST_F(SteerDriveControllerTest, testNaN)
{
  // 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);
  ros::Duration(2.0).sleep();

  // send a command
  cmd_vel.linear.x = 0.1;
  ros::Duration(2.0).sleep();

  // stop robot (will generate NaN)
  stop();
  ros::Duration(2.0).sleep();

  nav_msgs::Odometry odom = getLastOdom();

  EXPECT_NE(std::isnan(odom.twist.twist.linear.x), true);
  EXPECT_NE(std::isnan(odom.twist.twist.angular.z), true);
  EXPECT_NE(std::isnan(odom.pose.pose.position.x), true);
  EXPECT_NE(std::isnan(odom.pose.pose.position.y), true);
  EXPECT_NE(std::isnan(odom.pose.pose.orientation.z), true);
  EXPECT_NE(std::isnan(odom.pose.pose.orientation.w), true);

  // start robot
  start();
  ros::Duration(2.0).sleep();

  odom = getLastOdom();

  EXPECT_NE(std::isnan(odom.twist.twist.linear.x), true);
  EXPECT_NE(std::isnan(odom.twist.twist.angular.z), true);
  EXPECT_NE(std::isnan(odom.pose.pose.position.x), true);
  EXPECT_NE(std::isnan(odom.pose.pose.position.y), true);
  EXPECT_NE(std::isnan(odom.pose.pose.orientation.z), true);
  EXPECT_NE(std::isnan(odom.pose.pose.orientation.w), true);
}

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

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