ackermann_steering_controller_odom_tf_test.cpp
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27 
30 
31 #include "../common/include/test_common.h"
32 #include <tf/transform_listener.h>
33 
34 // TEST CASES
36 {
37  // wait for ROS
38  while(!isControllerAlive())
39  {
40  ros::Duration(0.1).sleep();
41  }
42  // set up tf listener
43  tf::TransformListener listener;
44  ros::Duration(2.0).sleep();
45  // check the odom frame doesn't exist
46  EXPECT_FALSE(listener.frameExists("odom"));
47 }
48 
49 int main(int argc, char** argv)
50 {
51  testing::InitGoogleTest(&argc, argv);
52  ros::init(argc, argv, "ackermann_steering_controller_odom_tf_test");
53 
55  spinner.start();
56  int ret = RUN_ALL_TESTS();
57  spinner.stop();
58  ros::shutdown();
59  return ret;
60 }
TEST_F(AckermannSteeringControllerTest, testNoOdomFrame)
bool sleep() const
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
void spinner()
int main(int argc, char **argv)
ROSCPP_DECL void shutdown()
bool frameExists(const std::string &frame_id_str) const


ackermann_steering_controller
Author(s): Masaru Morita
autogenerated on Sat Apr 18 2020 03:58:07