From f0e20e5d0d2c9373e1e65e03c5ce216da40903e8 Mon Sep 17 00:00:00 2001 From: Atsushi Watanabe Date: Tue, 24 Dec 2024 16:17:10 +0900 Subject: [PATCH] planner_cspace: add test case for zero size costmap_update --- planner_cspace/test/src/test_planner_3d_map_size.cpp | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/planner_cspace/test/src/test_planner_3d_map_size.cpp b/planner_cspace/test/src/test_planner_3d_map_size.cpp index 064af611..be2f33f1 100644 --- a/planner_cspace/test/src/test_planner_3d_map_size.cpp +++ b/planner_cspace/test/src/test_planner_3d_map_size.cpp @@ -175,6 +175,18 @@ TEST_F(Planner3DMapSize, OutOfRangeAll) ASSERT_TRUE(waitStatus(ros::Duration(2))); } +TEST_F(Planner3DMapSize, ZeroSizeUpdate) +{ + const ros::Time now = ros::Time::now(); + pub_map_.publish(generateCSpace3DMsg(now, 0x80, 0x80, 4)); + ros::Duration(0.1).sleep(); + pub_map_update_.publish(generateCSpace3DUpdateMsg(now, 1, 1, 0, 0, 0, 0)); + ros::Duration(0.5).sleep(); + ros::spinOnce(); + cnt_status_ = 0; + ASSERT_TRUE(waitStatus(ros::Duration(2))); +} + TEST_F(Planner3DMapSize, IllOrderedUpdate) { const ros::Time now = ros::Time::now();