From 9c1524e9a7828d69815a726db152ef729da1f877 Mon Sep 17 00:00:00 2001
From: bpwilcox <bpwilcox@eng.ucsd.edu>
Date: Tue, 12 Nov 2019 17:22:09 -0800
Subject: [PATCH] fix and re-enable goal checker test
---
nav2_dwb_controller/dwb_plugins/test/CMakeLists.txt | 4 ++--
nav2_dwb_controller/dwb_plugins/test/goal_checker.cpp | 8 ++++++--
2 files changed, 8 insertions(+), 4 deletions(-)
diff --git a/nav2_dwb_controller/dwb_plugins/test/CMakeLists.txt b/nav2_dwb_controller/dwb_plugins/test/CMakeLists.txt
index cbd7dba1..272f38cf 100644
--- a/nav2_dwb_controller/dwb_plugins/test/CMakeLists.txt
+++ b/nav2_dwb_controller/dwb_plugins/test/CMakeLists.txt
@@ -1,7 +1,7 @@
ament_add_gtest(vtest velocity_iterator_test.cpp)
-#ament_add_gtest(goal_checker goal_checker.cpp)
-#target_link_libraries(goal_checker simple_goal_checker stopped_goal_checker)
+ament_add_gtest(goal_checker goal_checker.cpp)
+target_link_libraries(goal_checker simple_goal_checker stopped_goal_checker)
ament_add_gtest(twist_gen_test twist_gen.cpp)
target_link_libraries(twist_gen_test standard_traj_generator)
diff --git a/nav2_dwb_controller/dwb_plugins/test/goal_checker.cpp b/nav2_dwb_controller/dwb_plugins/test/goal_checker.cpp
index 6e627e32..a2f7f7a3 100644
--- a/nav2_dwb_controller/dwb_plugins/test/goal_checker.cpp
+++ b/nav2_dwb_controller/dwb_plugins/test/goal_checker.cpp
@@ -38,6 +38,8 @@
#include "gtest/gtest.h"
#include "dwb_plugins/simple_goal_checker.hpp"
#include "dwb_plugins/stopped_goal_checker.hpp"
+#include "nav_2d_utils/conversions.hpp"
+#include "nav2_util/lifecycle_node.hpp"
using dwb_plugins::SimpleGoalChecker;
using dwb_plugins::StoppedGoalChecker;
@@ -61,9 +63,11 @@ void checkMacro(
v.y = yv;
v.theta = thetav;
if (expected_result) {
- EXPECT_TRUE(gc.isGoalReached(pose0, pose1, v));
+ EXPECT_TRUE(gc.isGoalReached(nav_2d_utils::pose2DToPose(pose0),
+ nav_2d_utils::pose2DToPose(pose1), nav_2d_utils::twist2Dto3D(v)));
} else {
- EXPECT_FALSE(gc.isGoalReached(pose0, pose1, v));
+ EXPECT_FALSE(gc.isGoalReached(nav_2d_utils::pose2DToPose(pose0),
+ nav_2d_utils::pose2DToPose(pose1), nav_2d_utils::twist2Dto3D(v)));
}
}
--
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