git commit -m "first commit"

navigations/nav_core_adapter/test/unload_test.cpp

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+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018, Locus Robotics
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ */
+#include <gtest/gtest.h>
+#include <nav_core_adapter/local_planner_adapter.h>
+
+
+TEST(LocalPlannerAdapter, unload_local_planner)
+{
+  tf2_ros::Buffer tf;
+  tf.setUsingDedicatedThread(true);
+
+  // This empty transform is added to satisfy the constructor of
+  // Costmap2DROS, which waits for the transform from map to base_link
+  // to become available.
+  geometry_msgs::TransformStamped base_rel_map;
+  base_rel_map.child_frame_id = "/base_link";
+  base_rel_map.header.frame_id = "/map";
+  base_rel_map.transform.rotation.w = 1.0;
+  tf.setTransform(base_rel_map, "unload", true);
+
+  nav_core_adapter::LocalPlannerAdapter* lpa = new nav_core_adapter::LocalPlannerAdapter();
+
+  costmap_2d::Costmap2DROS costmap_ros("local_costmap", tf);
+  lpa->initialize("lpa", &tf, &costmap_ros);
+
+  delete lpa;
+
+  // Simple test to make sure costmap hasn't been deleted
+  EXPECT_EQ("map", costmap_ros.getGlobalFrameID());
+}
+
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "unload_test");
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

navigations/nav_core_adapter/test/unload_test.launch

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+<launch>
+  <test time-limit="10" test-name="unload_test" pkg="nav_core_adapter" type="unload_test" />
+</launch>