diff_drive_fail_test.cpp
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00001 
00002 // Copyright (C) 2013, PAL Robotics S.L.
00003 //
00004 // Redistribution and use in source and binary forms, with or without
00005 // modification, are permitted provided that the following conditions are met:
00006 //   * Redistributions of source code must retain the above copyright notice,
00007 //     this list of conditions and the following disclaimer.
00008 //   * Redistributions in binary form must reproduce the above copyright
00009 //     notice, this list of conditions and the following disclaimer in the
00010 //     documentation and/or other materials provided with the distribution.
00011 //   * Neither the name of PAL Robotics, Inc. nor the names of its
00012 //     contributors may be used to endorse or promote products derived from
00013 //     this software without specific prior written permission.
00014 //
00015 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025 // POSSIBILITY OF SUCH DAMAGE.
00027 
00029 
00030 #include "test_common.h"
00031 
00032 // TEST CASES
00033 TEST_F(DiffDriveControllerTest, testWrongJointName)
00034 {
00035   // the controller should never be alive
00036   int secs = 0;
00037   while(!isControllerAlive() && secs < 5)
00038   {
00039     ros::Duration(1.0).sleep();
00040     secs++;
00041   }
00042   // give up and assume controller load failure after 5 seconds
00043   EXPECT_GE(secs, 5);
00044 }
00045 
00046 int main(int argc, char** argv)
00047 {
00048   testing::InitGoogleTest(&argc, argv);
00049   ros::init(argc, argv, "diff_drive_fail_test");
00050 
00051   ros::AsyncSpinner spinner(1);
00052   spinner.start();
00053   int ret = RUN_ALL_TESTS();
00054   spinner.stop();
00055   ros::shutdown();
00056   return ret;
00057 }


diff_drive_controller
Author(s): Bence Magyar
autogenerated on Sat Aug 13 2016 04:20:35