diff_drive_pub_cmd_vel_out_test.cpp

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// Copyright (C) 2017, PAL Robotics.
//
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#include "test_common.h"

// TEST CASES
TEST_F(DiffDriveControllerTest, testCmdVelOutTopic)
{
  // wait for ROS
  waitForController();
  // msgs are published in the same loop
  // thus if odom is published cmd_vel_out
  // should be as well (if enabled)
  waitForOdomMsgs();

  EXPECT_TRUE(isPublishingCmdVelOut());

  // zero everything before test
  geometry_msgs::Twist cmd_vel;
  cmd_vel.linear.x = 0.0;
  cmd_vel.angular.z = 0.0;
  publish(cmd_vel);
  ros::Duration(0.1).sleep();

  cmd_vel.linear.x = 0.1;
  publish(cmd_vel);
  ros::Duration(0.1).sleep();

  EXPECT_TRUE(isPublishingCmdVelOut());

  // get a twist message
  geometry_msgs::TwistStamped odom_msg = getLastCmdVelOut();

  EXPECT_GT(fabs(odom_msg.twist.linear.x), 0);
}

int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "diff_drive_pub_cmd_vel_out_topic_test");

  ros::AsyncSpinner spinner(1);
  spinner.start();
  int ret = RUN_ALL_TESTS();
  spinner.stop();
  ros::shutdown();
  return ret;
}