Created
October 12, 2018 01:08
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Example test files
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/********************************************************************* | |
* Software License Agreement (BSD License) | |
* | |
* Copyright (c) 2018, PickNik LLC | |
* All rights reserved. | |
* | |
* Redistribution and use in source and binary forms, with or without | |
* modification, are permitted provided that the following conditions | |
* are met: | |
* | |
* * Redistributions of source code must retain the above copyright | |
* notice, this list of conditions and the following disclaimer. | |
* * Redistributions in binary form must reproduce the above | |
* copyright notice, this list of conditions and the following | |
* disclaimer in the documentation and/or other materials provided | |
* with the distribution. | |
* * Neither the name of PickNik LLC nor the names of its | |
* contributors may be used to endorse or promote products derived | |
* from this software without specific prior written permission. | |
* | |
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | |
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | |
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | |
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | |
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | |
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | |
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | |
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | |
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | |
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | |
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | |
* POSSIBILITY OF SUCH DAMAGE. | |
*********************************************************************/ | |
/* Author: FIRST_NAME LAST_NAME | |
Desc: TODO:(EMAIL_ADDRESS) | |
*/ | |
/** EXAMPLES: | |
EXPECT_FALSE(robot_state.hasFixedLinks()); | |
EXPECT_EQ(robot_state.getFixedLinksCount(), 0); | |
EXPECT_TRUE(robot_state.getPrimaryFixedLink() == NULL); | |
EXPECT_GT(robot_state.getFixedLinksMode(), 0); | |
EXPECT_LT( fabs(vars[0] - 0), EPSILON) << "Virtual joint in wrong position " << vars[0]; | |
*/ | |
// C++ | |
#include <string> | |
// ROS | |
#include <ros/ros.h> | |
// Testing | |
#include <gtest/gtest.h> | |
namespace PACKAGE_NAME | |
{ | |
class CLASS_NAMETest : public ::testing::Test | |
{ | |
public: | |
CLASS_NAMETest() : nh_("~") | |
{} | |
protected: | |
ros::NodeHandle nh_; | |
}; // class CLASS_NAMETest | |
TEST_F(CLASS_NAMETest, ConstructDestruct) { ASSERT_TRUE(base.initialize()); } | |
TEST_F(CLASS_NAMETest, NameOfTest) | |
{ | |
bool test = true; | |
EXPECT_TRUE(test); | |
} | |
} // namespace PACKAGE_NAME | |
int main(int argc, char** argv) | |
{ | |
testing::InitGoogleTest(&argc, argv); | |
ros::init(argc, argv, "SHORT_NAME"); | |
ros::AsyncSpinner spinner(1); | |
spinner.start(); | |
int result = RUN_ALL_TESTS(); | |
spinner.stop(); | |
ros::shutdown(); | |
return result; | |
} |
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<?xml version="1.0" encoding="utf-8"?> | |
<launch> | |
<test pkg="PACKAGE_NAME" type="CLASS_FILE_NAME_test" test-name="CLASS_FILE_NAME_test" time-limit="300" args=""> | |
<rosparam command="load" file="$(find PACKAGE_NAME)/config/example.yaml"/> | |
</test> | |
</launch> |
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############# | |
## Testing ## | |
############# | |
if(CATKIN_ENABLE_TESTING) | |
find_package(rostest REQUIRED) | |
add_rostest_gtest(ros_test test/ros_test.test test/ros_test.cpp) | |
target_link_libraries(ros_test | |
${PROJECT_NAME} | |
${catkin_LIBRARIES} | |
${Boost_LIBRARIES} | |
) | |
endif() |
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