add humble-navigation2

navigation2/nav2_util/test/test_execution_timer.cpp

@@ -0,0 +1,33 @@
+// Copyright (c) 2018 Intel Corporation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <chrono>
+#include <thread>
+
+#include "nav2_util/execution_timer.hpp"
+#include "gtest/gtest.h"
+
+using nav2_util::ExecutionTimer;
+using std::this_thread::sleep_for;
+using namespace std::chrono_literals;
+
+TEST(ExecutionTimer, BasicDelay)
+{
+  ExecutionTimer t;
+  t.start();
+  sleep_for(10ns);
+  t.end();
+  ASSERT_GE(t.elapsed_time(), 10ns);
+  ASSERT_GE(t.elapsed_time_in_seconds(), 1e-8);
+}