38 #include <gtest/gtest.h> 40 #include "nav_msgs/Odometry.h" 41 #include "geometry_msgs/PoseWithCovarianceStamped.h" 43 #include <boost/thread.hpp> 53 class TestEKF :
public testing::Test
88 ROS_INFO(
"Subscribing to robot_pose_ekf/odom_combined");
92 ROS_INFO(
"Waiting for 20 seconds while bag is playing");
96 EXPECT_EQ(ekf_counter_, 0);
104 int main(
int argc,
char** argv)
106 testing::InitGoogleTest(&argc, argv);
114 int res = RUN_ALL_TESTS();
int main(int argc, char **argv)
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
boost::shared_ptr< geometry_msgs::PoseWithCovarianceStamped const > EkfConstPtr
ROSCPP_DECL void spin(Spinner &spinner)
void EKFCallback(const EkfConstPtr &ekf)