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/// \author Eric Tappan

#include "test_common.h"
#include <tf/transform_listener.h>

// TEST CASES
TEST_F(DiffDriveControllerTest, testOdomFrame)
{
  // wait for ROS
  waitForController();

  // set up tf listener
  tf::TransformListener listener;
  ros::Duration(2.0).sleep();
  // check the original odom frame doesn't exist
  EXPECT_TRUE(listener.frameExists("odom"));
}

TEST_F(DiffDriveControllerTest, testOdomTopic)
{
  // wait for ROS
  waitForController();
  waitForOdomMsgs();

  // get an odom message
  nav_msgs::Odometry odom_msg = getLastOdom();
  // check its frame_id
  ASSERT_STREQ(odom_msg.header.frame_id.c_str(), "odom");
}

int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "diff_drive_default_odom_frame_test");

  ros::AsyncSpinner spinner(1);
  spinner.start();
  int ret = RUN_ALL_TESTS();
  spinner.stop();
  ros::shutdown();
  return ret;
}
