diff_drive_fail_test.cpp
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1 // Copyright (C) 2013, PAL Robotics S.L.
3 //
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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 Thu Apr 11 2019 03:08:07