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test
ackermann_steering_controller_odom_tf_test
ackermann_steering_controller_odom_tf_test.cpp
Go to the documentation of this file.
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// Copyright (C) 2014, PAL Robotics S.L.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of PAL Robotics, Inc. nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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#include "../common/include/test_common.h"
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#include <
tf/transform_listener.h
>
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// TEST CASES
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TEST_F
(
AckermannSteeringControllerTest
, testNoOdomFrame)
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{
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// wait for ROS
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while
(!isControllerAlive())
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{
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ros::Duration
(0.1).
sleep
();
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}
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// set up tf listener
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tf::TransformListener
listener;
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ros::Duration
(2.0).
sleep
();
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// check the odom frame doesn't exist
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EXPECT_FALSE(listener.
frameExists
(
"odom"
));
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}
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int
main
(
int
argc,
char
** argv)
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{
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testing::InitGoogleTest(&argc, argv);
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ros::init
(argc, argv,
"ackermann_steering_controller_odom_tf_test"
);
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ros::AsyncSpinner
spinner
(1);
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spinner.
start
();
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int
ret = RUN_ALL_TESTS();
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spinner.
stop
();
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ros::shutdown
();
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return
ret;
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}
TEST_F
TEST_F(AckermannSteeringControllerTest, testNoOdomFrame)
Definition:
ackermann_steering_controller_odom_tf_test.cpp:35
transform_listener.h
AckermannSteeringControllerTest
Definition:
test_common.h:52
ros::Duration::sleep
bool sleep() const
ros::init
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
spinner
void spinner()
ros::AsyncSpinner::start
void start()
main
int main(int argc, char **argv)
Definition:
ackermann_steering_controller_odom_tf_test.cpp:49
tf::TransformListener
ros::Duration
ros::shutdown
ROSCPP_DECL void shutdown()
ros::AsyncSpinner::stop
void stop()
tf::Transformer::frameExists
bool frameExists(const std::string &frame_id_str) const
ros::AsyncSpinner
ackermann_steering_controller
Author(s): Masaru Morita
autogenerated on Sat Apr 18 2020 03:58:07