acceptancetest_publish_test.cpp

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// Copyright (c) 2019 Pilz GmbH & Co. KG
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <https://www.gnu.org/licenses/>.

#include <ros/ros.h>
#include <ros/duration.h>
#include <sensor_msgs/LaserScan.h>

double constexpr TIMEOUT_LENGTH_S = 100.0;

int main(int argc, char** argv)
{
  ros::init(argc, argv, "acceptancetest_publish_test");

  if (ros::topic::waitForMessage<sensor_msgs::LaserScan>("laser_scanner/scan", ros::Duration(TIMEOUT_LENGTH_S)) ==
      nullptr)
  {
    ROS_ERROR("TIMEOUT!");
    return 1;
  }
  else
  {
    return 0;
  }
}