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Lint
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Signed-off-by: redvinaa <[email protected]>
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redvinaa committed Aug 7, 2024
1 parent 32c8375 commit ec99d97
Showing 1 changed file with 10 additions and 5 deletions.
15 changes: 10 additions & 5 deletions nav2_docking/opennav_docking/test/test_navigator.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -102,28 +102,33 @@ TEST(NavigatorTests, TestNavigator)
// Should succeed, action server set to succeed
dummy_navigator_node->setReturn(true);
EXPECT_NO_THROW(
navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0), is_preempted_false));
navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0),
is_preempted_false));

// Should fail, timeout exceeded
EXPECT_THROW(
navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(0.0, 0.0), is_preempted_false),
navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(0.0, 0.0),
is_preempted_false),
opennav_docking_core::FailedToStage);

// Should fail, action server set to succeed
dummy_navigator_node->setReturn(false);
EXPECT_THROW(
navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0), is_preempted_false),
navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0),
is_preempted_false),
opennav_docking_core::FailedToStage);

// First should fail, recursion should succeed
dummy_navigator_node->setToggle();
EXPECT_NO_THROW(
navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0), is_preempted_false));
navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0),
is_preempted_false));

// Should fail, preempted
dummy_navigator_node->setReturn(true);
EXPECT_THROW(
navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0), is_preempted_true),
navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0),
is_preempted_true),
opennav_docking_core::FailedToStage);

navigator->deactivate();
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