test_robot_pose_ekf_zero_covariance.cpp

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
 
/* Author: Wim Meeussen */
 
#include <string>
#include <gtest/gtest.h>
#include "ros/ros.h"
#include "nav_msgs/Odometry.h"
#include "geometry_msgs/PoseWithCovarianceStamped.h"
 
#include <boost/thread.hpp>
 
using namespace ros;
 
 
int g_argc;
char** g_argv;
 
typedef boost::shared_ptr<geometry_msgs::PoseWithCovarianceStamped const> EkfConstPtr;
 
class TestEKF : public testing::Test
{
public:
  NodeHandle node_;
  ros::Subscriber ekf_sub_;
  double ekf_counter_;
 
 
  void EKFCallback(const EkfConstPtr& ekf)
  {
    // count number of callbacks
    ekf_counter_++;
  }
 
 
protected:
  TestEKF()
  {
    ekf_counter_ = 0;
 
  }
 
 
  ~TestEKF()
  {
  }
};
 
 
 
 
TEST_F(TestEKF, test)
{
  ROS_INFO("Subscribing to robot_pose_ekf/odom_combined");
  ekf_sub_ = node_.subscribe("/robot_pose_ekf/odom_combined", 10, &TestEKF::EKFCallback, (TestEKF*)this);
 
  // wait for 20 seconds
  ROS_INFO("Waiting for 20 seconds while bag is playing");
  ros::Duration(20).sleep();
  ROS_INFO("End time reached");
 
  EXPECT_EQ(ekf_counter_, 0);
 
  SUCCEED();
}
 
 
 
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  g_argc = argc;
  g_argv = argv;
 
  init(g_argc, g_argv, "testEKF");
 
  boost::thread spinner(boost::bind(&ros::spin));
 
  int res = RUN_ALL_TESTS();
  spinner.interrupt();
  spinner.join();
 
  return res;
}