diff_drive_fail_test.cpp
Go to the documentation of this file.
1 // Copyright (C) 2013, PAL Robotics S.L.
3 //
4 // Redistribution and use in source and binary forms, with or without
5 // modification, are permitted provided that the following conditions are met:
6 // * Redistributions of source code must retain the above copyright notice,
7 // this list of conditions and the following disclaimer.
8 // * Redistributions in binary form must reproduce the above copyright
9 // notice, this list of conditions and the following disclaimer in the
10 // documentation and/or other materials provided with the distribution.
11 // * Neither the name of PAL Robotics, Inc. nor the names of its
12 // contributors may be used to endorse or promote products derived from
13 // this software without specific prior written permission.
14 //
15 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
16 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
17 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
18 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
19 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
20 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
21 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
22 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
23 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
24 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
25 // POSSIBILITY OF SUCH DAMAGE.
27 
29 
30 #include "test_common.h"
31 
32 // TEST CASES
33 TEST_F(DiffDriveControllerTest, testWrongJointName)
34 {
35  // the controller should never be alive
36  int secs = 0;
37  while(!isControllerAlive() && ros::ok() && secs < 5)
38  {
39  ros::Duration(1.0).sleep();
40  secs++;
41  }
42  if (!ros::ok())
43  FAIL() << "Something went wrong while executing test.";
44 
45  // give up and assume controller load failure after 5 seconds
46  EXPECT_GE(secs, 5);
47 }
48 
49 int main(int argc, char** argv)
50 {
51  testing::InitGoogleTest(&argc, argv);
52  ros::init(argc, argv, "diff_drive_fail_test");
53 
55  spinner.start();
56  int ret = RUN_ALL_TESTS();
57  spinner.stop();
58  ros::shutdown();
59  return ret;
60 }
int main(int argc, char **argv)
bool sleep() const
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
void spinner()
ROSCPP_DECL bool ok()
ROSCPP_DECL void shutdown()
TEST_F(DiffDriveControllerTest, testWrongJointName)


diff_drive_controller
Author(s): Bence Magyar
autogenerated on Sat Apr 18 2020 03:58:05