diff_drive_odom_frame_test.cpp
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27 
29 
30 #include "test_common.h"
31 #include <tf/transform_listener.h>
32 
33 // TEST CASES
35 {
36  // wait for ROS
37  waitForController();
38 
39  // set up tf listener
40  tf::TransformListener listener;
41  ros::Duration(2.0).sleep();
42  // check the original odom frame doesn't exist
43  EXPECT_FALSE(listener.frameExists("odom"));
44 }
45 
46 TEST_F(DiffDriveControllerTest, testNewOdomFrame)
47 {
48  // wait for ROS
49  waitForController();
50 
51  // set up tf listener
52  tf::TransformListener listener;
53  ros::Duration(2.0).sleep();
54  // check the new_odom frame does exist
55  EXPECT_TRUE(listener.frameExists("new_odom"));
56 }
57 
59 {
60  // wait for ROS
61  waitForController();
62 
63  // wait until we received first odom msg
64  waitForOdomMsgs();
65 
66  // get an odom message
67  nav_msgs::Odometry odom_msg = getLastOdom();
68  // check its frame_id
69  ASSERT_STREQ(odom_msg.header.frame_id.c_str(), "new_odom");
70 }
71 
72 int main(int argc, char** argv)
73 {
74  testing::InitGoogleTest(&argc, argv);
75  ros::init(argc, argv, "diff_drive_odom_frame_test");
76 
78  spinner.start();
79  int ret = RUN_ALL_TESTS();
80  spinner.stop();
81  ros::shutdown();
82  return ret;
83 }
bool sleep() const
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
void spinner()
TEST_F(DiffDriveControllerTest, testNoOdomFrame)
int main(int argc, char **argv)
ROSCPP_DECL void shutdown()
bool frameExists(const std::string &frame_id_str) const


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