ackermann_steering_controller_timeout_test.cpp
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27 
30 
31 #include "../common/include/test_common.h"
32 
33 // TEST CASES
35 {
36  // wait for ROS
37  while(!isControllerAlive())
38  {
39  ros::Duration(0.1).sleep();
40  }
41  // zero everything before test
42  geometry_msgs::Twist cmd_vel;
43  cmd_vel.linear.x = 0.0;
44  cmd_vel.angular.z = 0.0;
45  publish(cmd_vel);
46  // give some time to the controller to react to the command
47  ros::Duration(0.1).sleep();
48  // get initial odom
49  nav_msgs::Odometry old_odom = getLastOdom();
50  // send a velocity command of 1 m/s
51  cmd_vel.linear.x = 1.0;
52  publish(cmd_vel);
53  // wait a bit
54  ros::Duration(3.0).sleep();
55 
56  nav_msgs::Odometry new_odom = getLastOdom();
57 
58  // check if the robot has stopped after 0.5s, thus covering less than 0.5s*1.0m.s-1 + some (big) tolerance
59  EXPECT_LT(fabs(new_odom.pose.pose.position.x - old_odom.pose.pose.position.x), 0.8);
60 }
61 
62 int main(int argc, char** argv)
63 {
64  testing::InitGoogleTest(&argc, argv);
65  ros::init(argc, argv, "ackermann_steering_controller_timeout_test");
66 
68  spinner.start();
69  int ret = RUN_ALL_TESTS();
70  spinner.stop();
71  ros::shutdown();
72  return ret;
73 }
bool sleep() const
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
void spinner()
TEST_F(AckermannSteeringControllerTest, testTimeout)
int main(int argc, char **argv)
ROSCPP_DECL void shutdown()


ackermann_steering_controller
Author(s): Masaru Morita
autogenerated on Sat Apr 18 2020 03:58:07