Added test for nav2_dwb_controller / dwb_plugins / LimitedAccelGenerator#2032
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SteveMacenski merged 10 commits intoros-navigation:mainfrom Oct 13, 2020
wilcobonestroo:add-LimitedAccelGenerator-test
Merged
Added test for nav2_dwb_controller / dwb_plugins / LimitedAccelGenerator#2032SteveMacenski merged 10 commits intoros-navigation:mainfrom wilcobonestroo:add-LimitedAccelGenerator-test
SteveMacenski merged 10 commits intoros-navigation:mainfrom
wilcobonestroo:add-LimitedAccelGenerator-test
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…t a default frequency of 20.
SteveMacenski
requested changes
Oct 12, 2020
| LimitedAccelGeneratorTest gen; | ||
| gen.initialize(nh, "dwb"); | ||
| // Default value should be 0.05 | ||
| EXPECT_EQ(gen.getAccelerationTime(), 0.05); |
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Test both ways, so now change the parameter and initalize again to make sure its what it should be with 1 / controller_frequency.
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This is to make sure that we're testing that this code is doing what we think it is, not only calling to get some default values. It can help us find issues where different inputs give us unexpected outputs due to branching
* Add kinematic parameters tests. * Solve uncrustify error.
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Rebase once this is merged, this fixes CI #2034 |
* changing gazebo base to my fork for testing * adding buffer header per TF2 API changes * moving header to header
* adding some more tests to smac_planner * addtl smac tests * remove unused functions
…t a default frequency of 20.
…ilcobonestroo/navigation2 into add-LimitedAccelGenerator-test
Codecov Report
@@ Coverage Diff @@
## main #2032 +/- ##
==========================================
- Coverage 81.31% 81.07% -0.25%
==========================================
Files 243 243
Lines 11790 11786 -4
==========================================
- Hits 9587 9555 -32
- Misses 2203 2231 +28
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ruffsl
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Jul 2, 2021
…tor (ros-navigation#2032) * Added a test with controller_frequency of 0. The controller should get a default frequency of 20. * Add kinematic parameters test (ros-navigation#2031) * Add kinematic parameters tests. * Solve uncrustify error. * [WIP fixing CI] changing gazebo base to my fork for testing (ros-navigation#2034) * changing gazebo base to my fork for testing * adding buffer header per TF2 API changes * moving header to header * Adding additional SmacPlanner tests (ros-navigation#2036) * adding some more tests to smac_planner * addtl smac tests * remove unused functions * adding additional constants and smoothers tests (ros-navigation#2038) * Added tests for different controller frequencies. * Added a test with controller_frequency of 0. The controller should get a default frequency of 20. * Added tests for different controller frequencies. * Solve uncrustify issue. Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
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Basic Info
Description of contribution in a few bullet points
The expected behavior is that the LimitedAccelGenerator prints an error message and the frequency should be set to the default frequency of 20Hz. This should set the test coverage to 100% for the limited_accel_generator.cpp file.