action_client_destruction_test.cpp

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#include <gtest/gtest.h>
#include <actionlib/TestAction.h>
#include <actionlib/client/simple_action_client.h>
#include <stdlib.h>

using namespace actionlib;

TEST(ActionClientDestruction, persistent_goal_handles_1) {
  ActionClient<TestAction> * test_client = new ActionClient<TestAction>("test_action");

  ClientGoalHandle<TestAction> gh = test_client->sendGoal(TestGoal());

  ros::Duration(.1).sleep();

  printf("Destroying ActionClient\n");
  delete test_client;
  printf("Done Destroying ActionClient\n");
}

int main(int argc, char ** argv)
{
  testing::InitGoogleTest(&argc, argv);

  ros::init(argc, argv, "simple_client_allocator");

  return RUN_ALL_TESTS();
}