diff_drive_nan_test.cpp
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27 
29 
30 #include "test_common.h"
31 
32 // NaN
33 #include <limits>
34 
35 // TEST CASES
37 {
38  // wait for ROS
39  while(!isControllerAlive())
40  {
41  ros::Duration(0.1).sleep();
42  }
43  // zero everything before test
44  geometry_msgs::Twist cmd_vel;
45  cmd_vel.linear.x = 0.0;
46  cmd_vel.angular.z = 0.0;
47  publish(cmd_vel);
48  ros::Duration(2.0).sleep();
49 
50  // send a command
51  cmd_vel.linear.x = 0.1;
52  ros::Duration(2.0).sleep();
53 
54  // stop robot (will generate NaN)
55  stop();
56  ros::Duration(2.0).sleep();
57 
58  nav_msgs::Odometry odom = getLastOdom();
59 
60  EXPECT_NE(std::isnan(odom.twist.twist.linear.x), true);
61  EXPECT_NE(std::isnan(odom.twist.twist.angular.z), true);
62  EXPECT_NE(std::isnan(odom.pose.pose.position.x), true);
63  EXPECT_NE(std::isnan(odom.pose.pose.position.y), true);
64  EXPECT_NE(std::isnan(odom.pose.pose.orientation.z), true);
65  EXPECT_NE(std::isnan(odom.pose.pose.orientation.w), true);
66 
67  // start robot
68  start();
69  ros::Duration(2.0).sleep();
70 
71  odom = getLastOdom();
72 
73  EXPECT_NE(std::isnan(odom.twist.twist.linear.x), true);
74  EXPECT_NE(std::isnan(odom.twist.twist.angular.z), true);
75  EXPECT_NE(std::isnan(odom.pose.pose.position.x), true);
76  EXPECT_NE(std::isnan(odom.pose.pose.position.y), true);
77  EXPECT_NE(std::isnan(odom.pose.pose.orientation.z), true);
78  EXPECT_NE(std::isnan(odom.pose.pose.orientation.w), true);
79 }
80 
81 int main(int argc, char** argv)
82 {
83  testing::InitGoogleTest(&argc, argv);
84  ros::init(argc, argv, "diff_drive_nan_test");
85 
87  spinner.start();
88  int ret = RUN_ALL_TESTS();
89  spinner.stop();
90  ros::shutdown();
91  return ret;
92 }
TEST_F(DiffDriveControllerTest, testNaN)
bool sleep() const
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
void spinner()
int main(int argc, char **argv)
ROSCPP_DECL void shutdown()


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