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Taka-Kazu
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Apr 13, 2025
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テスト内でTwistToRoombactrlConverterクラスを使うために宣言をヘッダファイルに分離しました
Taka-Kazu
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Apr 13, 2025
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テスト内でTwistToRoombactrlConverterクラスを使うためにmain()を別ファイルに分離しました
Taka-Kazu
commented
Apr 13, 2025
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| TEST_F(TwistToRoombactrlConverterTest, cmd_vel) | ||
| { | ||
| rclcpp::executors::SingleThreadedExecutor executor; |
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1プロセスで2つのノードを動かすため、Executorを使っています
Taka-Kazu
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Apr 13, 2025
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| EXPECT_EQ(received_control_->mode, roomba_500driver_meiji::msg::RoombaCtrl::DRIVE_DIRECT); | ||
| EXPECT_EQ(received_control_->cntl.linear.x, twist_msg->linear.x); | ||
| EXPECT_EQ(received_control_->cntl.angular.z, twist_msg->angular.z); |
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node_がpublishしたTwistに対して、converter_nodeがpublishした(node_が受け取った)RoombaCtrlの中身が意図したものになっているか確認しています
Taka-Kazu
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Apr 13, 2025
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| while (rclcpp::ok()) { | ||
| if (received_control_) { | ||
| break; | ||
| } | ||
| executor.spin_once(); | ||
| } |
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node_がRoombaCtrlを受け取るまでspinしています
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twist_to_roombactrl_converterのテストを追加しました