X-lanni
61 lines
2.0 KiB
C++
61 lines
2.0 KiB
C++
// Copyright (c) 2020 Samsung Research
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <memory>
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#include <cmath>
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#include "rclcpp/rclcpp.hpp"
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#include "nav2_util/robot_utils.hpp"
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#include "tf2_ros/transform_listener.h"
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#include "tf2_ros/transform_broadcaster.h"
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#include "geometry_msgs/msg/pose_stamped.hpp"
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#include "gtest/gtest.h"
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#include "nav2_util/node_thread.hpp"
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#include "tf2_ros/create_timer_ros.h"
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TEST(RobotUtils, LookupExceptionError)
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{
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rclcpp::init(0, nullptr);
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auto node = std::make_shared<rclcpp::Node>("name", rclcpp::NodeOptions());
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geometry_msgs::msg::PoseStamped global_pose;
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tf2_ros::Buffer tf(node->get_clock());
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ASSERT_FALSE(nav2_util::getCurrentPose(global_pose, tf, "map", "base_link", 0.1));
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global_pose.header.frame_id = "base_link";
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ASSERT_FALSE(nav2_util::transformPoseInTargetFrame(global_pose, global_pose, tf, "map", 0.1));
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}
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TEST(RobotUtils, validateTwist)
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{
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geometry_msgs::msg::Twist msg;
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EXPECT_TRUE(nav2_util::validateTwist(msg));
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msg.linear.x = NAN;
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EXPECT_FALSE(nav2_util::validateTwist(msg));
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msg.linear.x = 1;
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msg.linear.y = NAN;
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EXPECT_FALSE(nav2_util::validateTwist(msg));
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msg.linear.y = 1;
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msg.linear.z = NAN;
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EXPECT_FALSE(nav2_util::validateTwist(msg));
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msg.linear.z = 1;
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msg.angular.x = NAN;
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EXPECT_FALSE(nav2_util::validateTwist(msg));
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msg.angular.x = 1;
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msg.angular.y = NAN;
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EXPECT_FALSE(nav2_util::validateTwist(msg));
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msg.angular.y = 1;
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msg.angular.z = NAN;
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EXPECT_FALSE(nav2_util::validateTwist(msg));
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}
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